Design and tuning of pid algorithm for optimum performance of pvtol system

Abstract

In this paper different design scheme for a PID controller have been introduced for a single axis of a quadcopter. This type of model is also known as PVTOL (planar vertical take-off and landing) system. The PVTOL system possess complicated roll control schemes, nonlinearity, low stability and is a second order type process. This paper aims to present a comparison between different controllers used in a dynamic model of a PVTOL platform. Performance comparison of classical Zeigler Nicholas (ZN-PID) is done against Genetic Algorithm (GA) based controller optimization. The results are obtained using MATLAB and SIMULINK, the (ZN-PID) and (GA) based controller is designed for disturbance rejection, close loop response and set point tracking.