Optimized Sliding Mode based PID Controller for a Quadrotor System

In this paper, a new scheme, that combines the sliding mode control approach and a nonlinear structure of the PID controller, to control the translational and the rotational movements of a quadrotor system is proposed. In fact, six controllers are designed to control the horizontal position, the altitude and the yaw angle of the quadrotor and to stabilize its pitch and roll angles. The different parameters of these controllers are optimized using the teaching learning based optimization algorithm and the integrated time absolute error criterion. A comparison between the proposed control scheme and the sliding mode control approach is presented. The efficiency and the control performance of the developed controllers are demonstrated through numerical simulations. Indeed, satisfactory performance, in terms of the tracking accuracy, the disturbance rejection and the good characteristics of the transient responses are obtained.