A novel method on Disturbance Rejection PID Controller for Quadcopter based on Optimization algorithm

This paper presents a new method to design a Proportional-Integral-Derivative (PID) controller with optimal disturbance rejection for quadcopter pitch channel and roll channel. This is done by optimizing the disturbance sensitivity function to obtain the gains of PID controllers. The proposed PID controller is compared with the existing PID controller that is based on Linear-Quadratic-Regulator (LQR) through simulating the closed-loop system and experimentally testing it on an available quadcopter test bed. The results confirm the effectiveness of the proposed method.