Optimized PID, FOPID and PIDD2 for Controlling UAV Based on SSA

Unmanned aerial vehicles (UAVs) are widely used in recent years for different applications. Thus, UAV control attracted many researchers to suggest suitable controllers.  The simplicity of PID controller makes it the first choice. In this paper, an offline tuning procedure based on Salp swarm algorithm (SSA) for the attitude control of UAV is proposed. The parameters of PID, Fractional order PID (FOPID), and PID Plus Second-order Derivative (PIDD2) have been tuned and their performance is compared in terms of rise time, maximum overshoot, settling time, and integral time absolute error