Optimized PID Control of Quadrotor System Using Extremum Seeking Algorithm

Authors

• Abdullah Muhsen, Control and System Eng. Dept., University of Technology - Iraq
• Safanah Raafat, Control and System Eng. Dept., University of Technology - IraqFollow

Document Type

Research Paper

Abstract

This paper presents the development of an automatic tuning of conventional PI-D controllers for Quadrotor system. The most critical problem of tuning the parameters of the PID, is that they can drastically affect the performance of the system. Accordingly, Extremum seeking (ES) algorithm is utilized here to reduce a selected cost function that brings the required performance aspects. The results show that the ES-PID controller provides better stability and performance as compared with only PI-D controller. The parameters of ES-PID controller have been successfully tuned and modified to reach the desired destination with significantly less overshoot, oscillations, and faster convergence.

Recommended Citation

Muhsen, Abdullah and Raafat, Safanah () "Optimized PID Control of Quadrotor System Using Extremum Seeking Algorithm," Engineering and Technology Journal: Vol. 39: Iss. 6, Article 12.
DOI: https://doi.org/10.30684/etj.v39i6.1850

DOI

10.30684/etj.v39i6.1850

First Page

996

Last Page

1010