Real Time Optimal Tuning of Quadcopter Attitude Controller Using Particle Swarm Optimization


  • Musa Omar Abdalla The University of Jordan, Mechanical Enineering. Department, Amman 11942,
  • Salam Al-Baradie The University of Jordan, Mechanical Enineering. Department, Amman 11942,



fuzzy control, PID control, PSO tuning, quadcopter, PID tuning


A real-time novel algorithm for proportional, integral and derivative (PID) controller tuning for quadcopters is introduced. The particle swarm optimization (PSO) method is utilized to search the quadcopter solution space to find the best PID controller parameters. A fuzzy logic (FL) controller is used to provide proper velocity reference signals to serve as tracking set points to be achieved by the PID controller. This nested loop design is proposed for stabilizing the quadcopter, where the fuzzy logic controller (FL) is used in the stable loop (i.e. outer loop) to control the desired angle, while the PID controller is used for the rate loop (i.e. inner loop). Finally, the optimum generated PID parameters were achieved in real time using the PSO search algorithm. The generated parameters were tested successfully using an experimental quadcopter setup at the University of Jordan.


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