Tracking Control of Quadrotor Using PID Controller Based on an Improved Beetle Swarm Optimization Algorithm

This paper investigates the position and attitude tracking control of quadrotors using a PID controller optimized through an improved beetle swarm optimization algorithm. First, we introduce two control processes for quadrotor trajectory tracking and detail the flight principles. Second, an improved optimization algorithm is proposed to address the limitations of the traditional approach, such as susceptibility to local optima and low search precision. A nonlinear adjustment strategy is incorporated to dynamically balance global and local search capabilities by tuning inertia weights and acceleration factors. Additionally, a fitness function is designed to optimize PID parameters, taking into account both tracking error and force. Finally, simulation results demonstrate that the proposed algorithm outperforms the traditional beetle swarm optimization and differential evolution algorithms, achieving faster response time, smaller overshoot, and lower energy consumption.