Attitude and Altitude Control of Quadrotor Carrying a Suspended Payload using Genetic Algorithm


  • Zulfiqar Salih Salman College of Engineering - University of Baghdad
  • Muna Hadi Saleh College of Engineering - University of Baghdad



Quadrotor helicopter, Suspended payload, Genetic algorithm, Cost function.


The need for quick airborne transportation is critical, especially in emergencies. Drones with suspended payloads might be used to accomplish quick airborne transportation. Due to the environment or the drone's motion, the slung load may oscillate and lead the drone to fall. The altitude and attitude controls are the backbones of the drone's stability, and they must be adequately designed. Because of their symmetrical and simple structure, quadrotor helicopters are one of the most popular drone classes. In this work, a genetic algorithm with two weighted terms fitness function is used to adjust a Proportional-Integral-Derivative (PID) controller to compensate for the altitude and attitude controllers in a quadrotor drone with a slung load.


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How to Cite

Salih, Z. and Saleh, M. H. . (2022) “Attitude and Altitude Control of Quadrotor Carrying a Suspended Payload using Genetic Algorithm”, Journal of Engineering, 28(5), pp. 25–40. doi: 10.31026/j.eng.2022.05.03.