Chaotic Particle Swarm Optimisation Algorithm Based Quadrotor Control

Keywords: IRIS Quadrotor, Chaotic Particle Swarm Optimization, PID Control, Trajectory Tracking, Swarm Intelligence


Unmanned aerial vehicles are currently used for civil and military purposes. To illustrate such vehicles are quadrotor aircrafts which are underactuated systems. Quadrotors have huge nonlinearities compare to conventional aerial vehicles due to not being scheme based on uncertainty environments. For this reason, Chaotic Particle Swarm Algorithm can be employed in order to overcome and regulate this issue. In this study, a nonlinear system model of the IRIS+ Quadrotor is used and the classical PID is designed by means of CPSO algorithm. The Chaotic Particle Swarm Algorithm is used in order to emerge stable reference model for robust adaptive control the experimental testbed. Additionally, the proposed algorithm is applicable for scheme-based techniques.

Author Biography


M. Bugrahan ARTUC received his B.Sc. degrees in Mechanical Engineering from Faculty of Mechanical Engineering, Istanbul Technical University, Turkey in 2018. After that, He completed him double major Aeronautical Engineering from Faculty of Aeronautics and Astronautics, Istanbul Technical University, Turkey in 2019. He is studying M.Sc. degree in Aeronautical and Astronautic Engineering from Istanbul Technical University, Turkey in 2020. He is currently working Istanbul Technical University as Research Assistant.

How to Cite
M. Artuç and İsmail Bayezit, “Chaotic Particle Swarm Optimisation Algorithm Based Quadrotor Control”, JAST, vol. 14, no. 2, pp. 261-267, Jul. 2021.