Multi-Objective TEO and GOA Optimization of PID Controllers Applied to an Altitude and Yaw Mission of Quadrotor UAV Swarm
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Date
2026-03-01
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ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Vol. 11, Issue 1.p 51/p 58
Abstract
This paper produces a distributed control system to be used for collaborative UAV quadrotor
simultaneous hovering and yawing missions in a leader-follower architecture, PID control is used in the
altitude controller and the yaw controller for each single quadrotor with well-tuned parameters provided by two
multi-objective optimization algorithms MOTEO and MOGOA, in the simulation and discussion section we
show that due to the well system performances the produced parameters by MOTEO-PID combination are
chosen to be the gains of the altitude and yaw controllers of the distributed control system for the hovering and
yawing mission using a leader-follower architecture.