Optimized PID Control of Quadrotor System Using Extremum Seeking Algorithm


  • Abdullah N. Muhsen University of Technology, Iraq
  • Safanah M. Raafat University of Technology, Iraq




This paper presents the development of an automatic tuning of conventional PI-D controllers for Quadrotor system. The most critical problem of tuning the parameters of the PID, is that they can drastically affect the performance of the system. Accordingly, Extremum seeking (ES) algorithm is utilized here to reduce a selected cost function that brings the required performance aspects. The results show that the ES-PID controller provides better stability and performance as compared with only PI-D controller. The parameters of ES-PID controller have been successfully tuned and modified to reach the desired destination with significantly less overshoot, oscillations, and faster convergence.


Download data is not yet available.


Metrics Loading ...



How to Cite

Muhsen , A. N. ., & Raafat , S. M. . (2021). Optimized PID Control of Quadrotor System Using Extremum Seeking Algorithm. Engineering and Technology Journal, 39(6), 996-1010. https://doi.org/10.30684/etj.v39i6.1850