Synthesis of Quadrotor Angular Motion Stabilization System Using Particle Swarm Optimization

Abstract

This paper proposes a synthesis procedure for a two-degree-of-freedom (2DOF) robust loop-shaping controller using the Particle Swarm Optimization (PSO) algorithm. The controller is designed to satisfy predefined performance constraints in both time and frequency domains. А key idea is the use of a generalized weighting function instead of a simple first-order one. This provides a more flexible framework for controller design. Coefficients of this generalized function are treated as decision variables in a constrained optimization problem. By integrating strengths of 2DOF robust loop shaping with computational capabilities of PSO in a closed-loop design, the synthesized controller demonstrates high robustness to significant system parameter variations. In addition, it helps reduce overshoot, shorten settling time, and improve disturbance rejection. Simulation results from a quadrotor attitude control system indicate that the proposed controller can provide robust performance under complex flight conditions. Moreover, its performance and robustness are validated through comparison with a controller designed using the NOMAD (Nonlinear Optimization with Mesh Adaptive Direct search)