Optimal Tilt Integral Derivative Controller with Filter Design for Quadrotor Based on Adaptive Particle Swarm Optimization

  • Yimin ZhouEmail author
  • Bo Han
  • Kranthi Kumar Deveerasetty
  • Junhai Cao
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 582)


In this paper, a Tilt Integral Derivative controller with Filter (TIDF) is proposed for attitude control of an unmanned aerial vehicle (UAV). The parameters of the proposed controller are optimized using Adaptive Particle Swarm Optimization (APSO) employing an Integral Square Error (ISE). Further, the fitness function in the APSO is modified and the inertia weight of the current velocity is updated based on the fitness value of each individual at the previous moment. Experiments are performed to examine the performance of the developed controller. Compared with the traditional controllers, the proposed controller has higher performance on the robustness and stability.


Tilt Integral Derivative controller with Filter (TIDF) Adaptive Particle swarm optimization (APSO) Parameter optimization Unmanned aerial vehicle (UAV) 



This work is supported under the Shenzhen Science and Technology Innovation Commission Project Grant Ref. JCYJ20160510154736343 and Ref. JCYJ20170818153635759, and Science and Technology Planning Project of Guangdong Province Ref. 2017B010117009, and Guangdong Provincial Engineering Technology Research Center of Intelligent Unmanned System and Autonomous Environmental Perception.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Yimin Zhou
    • 1
    Email author
  • Bo Han
    • 1
    • 2
  • Kranthi Kumar Deveerasetty
    • 1
  • Junhai Cao
    • 1
  1. 1.Shenzhen Institutes of Advanced Technology, Chinese Academy of SciencesShenzhenChina
  2. 2.School of Electrical and Information EngineeringTianjin UniversityTianjinChina

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