Proportional Double Derivative Linear Quadratic Regulator Controller Using Improvised Grey Wolf Optimization Technique to Control Quadcopter

A hybrid proportional double derivative and linear quadratic regulator (PD2-LQR) controller is designed for altitude (z) attitude (roll, pitch, yaw) control of a quadrotor vehicle. The derivation mathematical model the formulated based on Newton–Euler approach. An appropriate controller’s parameter must be obtained to obtain superior performance. Therefore, we exploit advantages nature-inspired optimization algorithm called Grey Wolf Optimizer (GWO) search those optimal values. Hence, an improved version GWO IGWO proposed used instead original one. comparative study with conventional controllers, namely (PD), integral (PID), (LQR), (P-LQR), (PD-LQR), PD2-LQR, GWO-based was undertaken show effectiveness investigation 20 different quadcopter models using presented. Simulation results prove that IGWO-based PD2-LQR can better track desired reference input shorter rise time settling time, lower percentage overshoot, minimal steady-state error root mean square (RMSE).