Novel bioinspired stochastic tuning of a quadrotor PD controller

Unmanned Aerial Vehicles (UAVs) have been attractive for years for many researchers and companies worldwide due to their commercial and military applications. The control of UAVs has been widely studied and implemented, but new techniques are yet to be explored in order to make tuning of controllers easier. In this paper, ecosystem equilibrium established in nature between different species is used to develop a novel bio-inspired stochastic search algorithm. The algorithm is then tested in offline tuning of the PD controller of a quadrotor UAV. MATLAB simulations emphasize the good performance of the proposed algorithm.