Title: A new nonlinear PID controller design for a quadrotor system using teaching learning based optimisation algorithm

Authors: Naima Bouhabza; Kamel Kara

Addresses: Labortoire des Systèmes Électriques et Télécommande, Faculté de Technologie, Université Blida1, B.P 270, Route de Soumaa, Algeria ' Labortoire des Systèmes Électriques et Télécommande, Faculté de Technologie, Université Blida1, B.P 270, Route de Soumaa, Algeria

Abstract: In this paper, a novel nonlinear proportional integral derivative controller based on the meta-heuristic optimisation technique is suggested. Due to its straightforward implementation and structure, the proportional integral derivative controller is frequently employed in nonlinear system control. The Teaching_Learning_Based_Optimisation algorithm, owing due to its effectiveness, rapidity, and minimum initialisation parameter required, has gained the attention of a significant number of researchers. The quadrotor's actuation dynamics are controlled by nonlinear proportional integral derivative controllers. Moreover, under-actuated dynamics use the same controller mechanism. For each controller, six parameters are tuned using the integral time absolute error criteria. Through numerical simulation, the efficiency and control performance of the suggested scheme are proven and contrasted with those of the linear proportional integral derivative controller and the sliding mode control. The simulation research demonstrates the effectiveness and successful performance of the recommended control technique in terms of the transient response characteristics, tracking precision, and perturbation rejection.

Keywords: quadrotor; teaching learning based optimisation; TLBO; optimisation; nonlinear PID control.

DOI: 10.1504/IJMIC.2024.141654

International Journal of Modelling, Identification and Control, 2024 Vol.45 No.1, pp.1 - 10

Received: 24 Jan 2023
Accepted: 21 Jun 2023
Published online: 30 Sep 2024 *