Studies on the control quality improvement for multirotor flying robot

In this paper research results on control quality improvement by the use of particle swarm optimization algorithm (PSO) was described as an alternative for the classic PID tuning. For the problem of multi-rotor flying robot control, test studies were conducted using a specially for this purpose designed and performed measuring testbed. This solution allows to obtain the angle as a feedback in flying robot stabilizing loop and it was compared with the reference angle measured at the test stand. In the first part of the paper robot construction, test stand and tests related with the calibration and correctness of indications were described. In the second part, a method of the PID controller tuning by particle swarm optimization algorithm, their subsequent verification and fine tuning were presented. The results obtained with PSO algorithm were compared to results of empirical tuning of the PID controller. Key-Words: multirotor flying robot, quadrotor, particle swarm optimization algorithm, PID controller tuning, test stand, flying robot stabilization, quality control improvement