Tuning Decentralized PID Controller for a Quadrotor Using Flower Pollination Algorithm.

Abstract

This paper presents a decentralized PID controller applied to Unmanned Aerial Vehicle (UAV). Initially, a decentralized Proportional Integral Derivative (PID) controller was proposed to control the overall system of the quadrotor. Then, the parameters of the proposed controller tuning via Flower Pollination Algorithm against a fitness function which guarantees the convergence of the proposed algorithm to the optimal parameters. The simulation results demonstrate the effectiveness of the proposed optimization algorithm to tune the PID controller.