Genetic algorithm based trajectory stabilization of quadrotor

Abstract

This paper deals with control and stabilization of a quadcopter UAV using Genetic algorithm tuned PID controller. In this work, conventional GA is improved in two ways: firstly, crossover fraction and mutation rate is made adaptive by using a Fussy logic controller. Secondly, an advanced randomness is provided in GA by changing half of its initial population with random candidates after a fixed generations. Simulation results proven to be more optimised with the proposed controller in respect to the doth transient response and robustness in presence of adverse condition or disturbances.