PID Trajectory Tracking Control of Crazyflie Nanoquadcopter Based on Genetic Algorithm

Abstract

This paper presents a Proportional-Integration-Derivative (PID) trajectory tracking control of a Crazyflie nanoquadcopter dependent upon the Genetic Algorithm (GA) technique to improve the dynamic performance of the Crazyflie. The comparison between the original PID and the proposed PID-based GA controllers is demonstrated using experimental data from the Crazyflie (CF) as the desired trajectory feeding both controllers. These data are the outcome of laboratory experiments. Experiments are carried out using simulation to compare as well as evaluate how the Crazyflie performs at different speeds for real-time desired trajectories in terms of dynamic performance and stability.