Research on Quadrotor Control Based on Genetic Algorithm and Particle Swarm Optimization for PID Tuning and Fuzzy Control-Based Linear Active Disturbance Rejection Control
Kelin Li, Yalei Bai, Haoyu Zhou
Abstract
The control system of a quadrotor aircraft is characterized by nonlinearity, strong coupling, and underactuation, making it susceptible to external disturbances that can affect flight performance. To address this issue, this paper proposes a novel control system based on inner–outer loop architecture. In this system, the outer loop position control adopts a PID controller optimized by Genetic Algorithm-based Particle Swarm Optimization (GA-PSO), while the inner loop attitude control employs a Linear Active Disturbance Rejection Controller (LADRC) with fuzzy algorithm-based adaptive tuning, forming a dual-loop control structure. Comparisons with traditional dual-loop cascaded PID controllers, conventional PID in the outer loop with LADRC in the inner loop, and conventional PID in the outer loop with fuzzy algorithm-based adaptive tuning in the inner loop demonstrate that the proposed control system can stably track the desired position and attitude angles under certain external disturbances, exhibiting excellent anti-disturbance capability and stability.