Fractional order PID control of quadrotor UAV based on SA-PSO algorithm

The stability control of quadrotor UAV system is a challenging problem due to its nonlinearity, strong coupling and underactuation characteristics. In this paper, a fractional order PID control strategy (FOPID) is proposed to realize the high-precision control of UAV system by utilizing the multi-degree of freedom characteristic of FOPID, SA-PSO is used to tune the parameters of FOPID. Compared with the standard PSO optimization process, the convergence speed is faster and the accuracy is higher. Simulation results show that the proposed PSO parameter optimization based on SA algorithm makes FOPID controller have better performance than traditional integer order PID controller.