Particle Swarm Optimization based Fractional Order PID Control for the Twin Rotor Multi-Input Multi- Output System

This paper introduces a research endeavour that utilizes a fractional-order control methodology based on Particle Swarm Optimization (PSO) to address the intricacies of the non-linear Twin Rotor Multi-input Multi-Output System (TRMS). The primary purpose of this research is to achieve propeller trajectory tracking and system stabilization. Various control schemes, including the Linear Quadratic Regulator with a Proportional Derivative (PD) controller, the Proportional Integral Derivative (PID) controller, and the Non-Linear Fractional Order PID controller, are assessed for their performance on the interconnected system. The pitch and yaw angles are independently regulated by controllers specifically designed for the tail and main rotors. The parameters of these controllers are optimized using the PSO technique. The results indicate that the most effective controller among those tested is the enhanced PID controller, specifically the PSO-based Fractional Order PID controller.