Optimizing PID Controller Coefficients Using an Improved Biogeography-Based Optimization to Stabilize Movements of Quadcopters

Sam Ziamanesh, Ahmad Tavaana, Amir Aminzadeh Ghavifekr, Ali Farzamnia, Hadi Salimi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)


Quadcopters are four propellers unmanned aerial vehicles (UAVs) which have various applications such as rescue, remote sensing, and surveying. Providing stability and reliable tracking performance are among important criteria in the controller designs for these systems. Proportional integral derivative (PID) controller is one of the commonly used schemes to create a stable movement for UAVs. Utilizing this controller requires a precise tuning and initialization of its parameters. An optimized tuning of PID controller coefficients leads to an appropriate performance trajectory for quadcopter. In this paper, optimal tuning of quadcopter’s PID controller gains is investigated, which is previously performed by classic methods such as Ziegler-Nichols (ZN) and primary metaheuristic algorithms like Genetic Algorithm (GA), the Crow Search Algorithm (CSA), and Particle swarm Optimization (PSO). An improved Biogeography-Based Optimization (BBO) algorithm is proposed to design a PID controller and stabilize the movements of quadcopters. Numerical results indicate that the controller is stable and effective.

Original languageEnglish
Title of host publicationControl, Instrumentation and Mechatronics
Subtitle of host publicationTheory and Practice
EditorsNorhaliza Abdul Wahab, Zaharuddin Mohamed
PublisherSpringer Singapore
Number of pages14
ISBN (Electronic)9789811939235
ISBN (Print)9789811939228, 9789811939259
Publication statusPublished - 8 Jul 2022
Externally publishedYes
Event3rd International Conference on Control, Instrumentation and Mechatronics Engineering - Virtual, Online
Duration: 2 Mar 20223 Mar 2022
Conference number: 3

Publication series

NameLecture Notes in Electrical Engineering
Volume921 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


Conference3rd International Conference on Control, Instrumentation and Mechatronics Engineering
Abbreviated titleCIM 2022
CityVirtual, Online

Cite this