Tuning quadrotor PD controller using Ecological Systems

Ecological Systems Algorithm (ESA) is used to tune the PD controller of a quadrotor

Ecological Systems Algorithm (ESA) bioinspired search algorithm is used to tune the PD controller of a quadrotor. The quadrotor model is an m-file instead of a simulink file. The search algoruthm finds the best gains for the height controller, roll controller, pitch controller, and yaw controller. After completing the search, the code runs a test and shows the errors for each variable. The main function is "Main_Ecosystem_Q.m".

Abdel-Razzak Merheb, and Hassan Noura, "Novel Bio-inspired Stochastic tuning of a Quadrotor PD controller", The second annual Australian Control Conference (AUCC 2012), Sydney, Australia, November 15-16, 2012.

Abdel-Razzak Merheb, Hassan Noura, and François Bateman, "Mathematical Modeling of Ecological Systems Algorithm", Lebanese Science Journal, Vol. 22, No.2, pp.209-231, 2021, DOI: 10.22453/LSJ-022.2.209-231. (Impact factor: 1.354)