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Genetic Algorithm and Poles-Placement: a Comparative Study on the Design of PD and PID Controllers Applied to a Quadrotor Flight Stabilization

A quadrotor is a flying machine which uses four spinning rotors attached to an airframe. Its flight control and stability are accomplished by controlling the thrust of each rotor. This paper focuses on the study of such machines, starting with a mathematical modeling and the control algorithm implementation. This work addresses the PD and PID methods. After that, the control systems are evaluated by comparing the performance of a classical poles placement method and a bio-inspired optimization approach - the genetic algorithm. The computational results showed that the use of a GA increases the general performance of the model to both controllers, being the PID the most adequate.