Approximate Multi-Objective Optimization of a Quadcopter through Proportional-Integral-Derivative Control

In this study, the nondominated sorting genetic algorithm (NSGA-II) is used to obtain the optimized proportional-integral-derivative (PID) gain value that can quickly recover the motion of a quadcopter after a disturbance. Prior to PID control, the four-rotor quadcopter interval was defined using computational fluid dynamics (CFD). Through the definition of this model, the PID control algorithm was generated. To construct a response surface model, D-optimal programming was used for the generation of experimental points. For this purpose, a gain value that satisfies both the roll and altitude PID gain values is obtained. Using the NSGA-II, the gain value of shorten time of the quadcopter motion control can be optimized.