A Genetic Algorithm Approach to PID Tuning of a Quadcopter UAV Model
Marc Francis Q. Say, Edwin Sybingco, Argel A. Bandala, Ryan Rhay P. Vicerra, Alvin Y. Chua
Abstract
UAV applications are being developed for various applications and are being marketed to provide solutions for agricultural, industrial, and even entertainment applications. In order to create these applications, it is vital that the UAV has good stability, and most control system of these UAVs still makes use of PID. Tuning of PID can be done by trial and error or by using the Ziegler-Nichols method. Another approach is to use a Genetic Algorithm that will find the optimal PID values without having to go through each step of trial and error or the Ziegler-Nichols method. Using the Genetic Algorithm approach optimizes the PID coefficients to produce an acceptable response to the system.