Selection of settings of PID regulators for quadrocopter with the use of optimization methods in the Wolfram MATHEMATICA software

  • Krzysztof Wieczorkowski Kielce University of Technology
  • Leszek Cedro Kiecle University of Technology
Keywords: selection, quadrocopter, optimization methods, Mathematica software


The article presents the method of modeling the dynamics of a quadrocopter and presents a method for the selection of PID regulators. The quadrocopter's dynamics were derived based on the Lagrange equations of the second type. In the form of graphs, the simulation results were presented for the settings selected using the optimization method using the Wolfram Mathematica package


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