Mathematical Modeling and Designing PID Controller for a Quadrotor and Optimizing its Step Response by Genetic Algorithm

In order to analyze the mathematical modeling and PID controller performance of a quadrotor, this paper firstly, describes the quadrotor flight dynamics according to “Newton-Euler laws”, then equations of motion linearized and transfer functions for 6 degrees of freedom obtained in state space domain. Classic PID controller based on “Ziegler-Nichols method” is designed and implemented on the system. In order to have better performance, Genetic Algorithm based on step response optimization is used to optimize PID controller performance and compared with classic method. Finally, step responses comparison for each transfer function show that Genetic Algorithm with PID control synthesis better efficiency than the classic PID controller.