STABILIZATION OF A QUADCOPTER USING PID CONTROL AND METAHEURISTIC ALGORITHMS

Abstract

This thesis focuses on quadcopter stabilization using PID control enhanced with metaheuristic optimization methods. A mathematical model of the quadcopter was developed in MATLAB and Simulink to support controller design. Classical PID tuning methods and metaheuristic optimisation methods were tested and shown to produce overshoot, slow settling and limited robustness. Simulation results indicated that Grey Wolf Optimization achieved the best results in response speed and overshoot reduction. The results were further validated in the Webots 3D environment under hovering, trajectory tracking and disturbance scenarios. These results confirm that metaheuristic tuning significantly enhances quadcopter stability.