Improved PID rate control of a quadrotor with a convexity-based surrogated model

Abstract

Purpose

The purpose of this paper is to develop, extend and propose an improved proportional integral derivative (PID) rate control of a quadrotor unmanned aerial vehicle based on a convexity-based surrogated firefly algorithm.

Design/methodology/approach

An improved PID controller structure is proposed for the rate dynamics of the quadrotor. Optimality of the controller is ensured by a recent, simple yet efficient firefly optimization method. The hybrid structure is further enhanced with a convexity-based surrogated model function.

Findings

Monte Carlo, transient response, error metrics and histogram distribution analyzes are conducted to show the performance of the proposed controller. The performance of the proposed method is evaluated under various convex combination values to further investigate the effect of the proposed surrogated model. According to the results, the proposed method is capable of controlling the rate quadrotor dynamics with the steady-state error of 0.0023 (rad/s) for P, −0.0024 (rad/s) for Q and 0 (rad/s) for the R state, respectively. Also, the least mean objective value is achieved at = 0 value of convexity in Monte Carlo trials.

Originality/value

The originality of this paper is to propose an improved PID rate controller with a convexity-based surrogated firefly algorithm.

Citation

Kaba, A. (2021), "Improved PID rate control of a quadrotor with a convexity-based surrogated model", Aircraft Engineering and Aerospace Technology, Vol. 93 No. 8, pp. 1287-1301. https://doi.org/10.1108/AEAT-03-2021-0093