{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,26]],"date-time":"2026-06-26T01:17:59Z","timestamp":1782436679151,"version":"3.54.5"},"reference-count":46,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2019,11,3]],"date-time":"2019-11-03T00:00:00Z","timestamp":1572739200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,11,3]],"date-time":"2019-11-03T00:00:00Z","timestamp":1572739200000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Evol. Intel."],"published-print":{"date-parts":[[2021,3]]},"DOI":"10.1007\/s12065-019-00312-8","type":"journal-article","created":{"date-parts":[[2019,11,3]],"date-time":"2019-11-03T06:09:14Z","timestamp":1572761354000},"page":"61-73","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":45,"title":["Parameters tuning of a quadrotor PID controllers by using nature-inspired algorithms"],"prefix":"10.1007","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6002-2231","authenticated-orcid":false,"given":"Seif-El-Islam","family":"Hasseni","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Latifa","family":"Abdou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hossam-Eddine","family":"Glida","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2019,11,3]]},"reference":[{"key":"312_CR1","doi-asserted-by":"publisher","first-page":"208","DOI":"10.1016\/j.ast.2016.04.005","volume":"54","author":"Y Yang","year":"2015","unstructured":"Yang Y, Yan Y (2015) Attitude regulation for unmanned quadrotors using adaptive fuzzy gain-scheduling sliding mode control. Aerosp Sci Technol 54:208\u2013217","journal-title":"Aerosp Sci Technol"},{"key":"312_CR2","unstructured":"Bouabdallah S (2007) Design and control of quadrotors with application to autonomous flying. PhD thesis, EPFL, Lausanne, Switzerland"},{"issue":"4","key":"312_CR3","first-page":"279","volume":"229","author":"F Chen","year":"2015","unstructured":"Chen F, Zhang K, Wang Z, Tao G, Jiang G (2015) Trajectory tracking of a quadrotor with unknown parameters and its fault-tolerant control via sliding mode fault observer. Proc Inst Mech Eng Part I J Syst Control Eng 229(4):279\u2013292","journal-title":"Proc Inst Mech Eng Part I J Syst Control Eng"},{"issue":"3","key":"312_CR4","doi-asserted-by":"publisher","first-page":"725","DOI":"10.1016\/j.isatra.2014.01.004","volume":"53","author":"JJ Xiong","year":"2014","unstructured":"Xiong JJ, Zheng EH (2014) Position and attitude tracking control for quadrotor UAV. ISA Trans 53(3):725\u2013731","journal-title":"ISA Trans"},{"key":"312_CR5","doi-asserted-by":"crossref","unstructured":"Voos H (2009) Nonlinear control of a quadrotor micro-UAV using feedback-linearization. In: IEEE international conference on mechatronics, Malaga, Spain, April 14","DOI":"10.1109\/ICMECH.2009.4957154"},{"issue":"5","key":"312_CR6","doi-asserted-by":"publisher","first-page":"1797","DOI":"10.1109\/TCST.2015.2505642","volume":"24","author":"N Cao","year":"2016","unstructured":"Cao N, Lynch AF (2016) Inner-outer loop control for quadrotor UAVs with input and state constraints. IEEE Trans Control Syst Technol 24(5):1797\u20131804","journal-title":"IEEE Trans Control Syst Technol"},{"key":"312_CR7","doi-asserted-by":"publisher","first-page":"299","DOI":"10.1016\/j.ast.2017.05.022","volume":"68","author":"Z Jia","year":"2017","unstructured":"Jia Z, Yu J, Mei Y, Chen Y, Shen Y, Ai X (2017) Integral backstepping sliding mode control for quadrotor helicopter under external uncertain disturbances. Aerosp Sci Technol 68:299\u2013307","journal-title":"Aerosp Sci Technol"},{"issue":"1","key":"312_CR8","doi-asserted-by":"publisher","first-page":"142","DOI":"10.1002\/asjc.823","volume":"17","author":"GV Raffo","year":"2015","unstructured":"Raffo GV, Ortega MG, Rubio FR (2015) Robust nonlinear control for path tracking of a quad-rotor helicopter. Asian J Control 17(1):142\u2013156","journal-title":"Asian J Control"},{"key":"312_CR9","doi-asserted-by":"crossref","unstructured":"Bouabdallah S, Noth A, and Siegwart R (2004) PID vs LQ control techniques applied to an indoor micro quadrotor. In: 2004 IEEE\/RSJ international conference on intelligent robots and systems, Sendal, Japan, September 28","DOI":"10.1109\/IROS.2004.1389776"},{"key":"312_CR10","unstructured":"Kada B, Ghazzawi Y (2011) Robust PID controller design for an UAV flight control system. In: The world congress on engineering and computer sciences, San Francisco, USA, October 19"},{"key":"312_CR11","doi-asserted-by":"crossref","unstructured":"Zarafshan P, Moosavian SB, Moosavian SAA, Bahrami M (2008) Optimal control of an aerial robot. In: 2008 IEEE\/ASME international conference on advanced intelligent mechatronics, Xi\u2019an, China, July 2","DOI":"10.1109\/AIM.2008.4601847"},{"key":"312_CR12","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2019.2905808","author":"F Jiang","year":"2019","unstructured":"Jiang F, Pourpanah F, Hao Q (2019) Design, implementation and evaluation of a neural network based quadcopter UAV system. IEEE Trans Ind Electron. https:\/\/doi.org\/10.1109\/TIE.2019.2905808","journal-title":"IEEE Trans Ind Electron"},{"key":"312_CR13","volume-title":"Automatic tuning of PID controllers","author":"KJ Astrom","year":"1988","unstructured":"Astrom KJ, Hagglund T (1988) Automatic tuning of PID controllers. Instrum Society of America, Pennsylvania"},{"key":"312_CR14","doi-asserted-by":"publisher","first-page":"880","DOI":"10.1016\/j.ijepes.2014.08.021","volume":"64","author":"RK Sahu","year":"2015","unstructured":"Sahu RK, Panda S, Chandra-Sekhar GT (2015) A novel hybrid PSO-PS optimized fuzzy PI controller for AGC in multi area interconnected power systems. Int J Electr Power Energy Syst 64:880\u2013893","journal-title":"Int J Electr Power Energy Syst"},{"issue":"1","key":"312_CR15","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1007\/s12065-018-0184-y","volume":"12","author":"RK Mandava","year":"2019","unstructured":"Mandava RK, Vundavilli PR (2019) An optimal PID controller for a biped robot walking on flat terrain using MCIWO algorithms. Evolut Intell 12(1):33\u201348","journal-title":"Evolut Intell"},{"issue":"1","key":"312_CR16","doi-asserted-by":"publisher","first-page":"64","DOI":"10.1007\/s11633-015-0910-1","volume":"13","author":"K Rajarathinam","year":"2016","unstructured":"Rajarathinam K, Gomm JB, Yu DL, Abdelhadi AS (2016) PID controller tuning for a multivariable glass furnace process by genetic algorithm. Int J Autom Comput 13(1):64\u201372","journal-title":"Int J Autom Comput"},{"issue":"2","key":"312_CR17","first-page":"129","volume":"2","author":"A Salem","year":"2014","unstructured":"Salem A, Hassan MAM, Ammar ME (2014) Tuning PID controllers using artificial intelligence techniques applied to DC-motor and AVR system. Asian J Eng Technol 2(2):129\u2013138","journal-title":"Asian J Eng Technol"},{"key":"312_CR18","doi-asserted-by":"publisher","first-page":"278","DOI":"10.1016\/j.segan.2018.09.006","volume":"16","author":"BP Sahoo","year":"2018","unstructured":"Sahoo BP, Panda S (2018) Improved grey wolf optimization technique for fuzzy aided PID controller design for power system frequency control. Sustain Energy Grids Netw 16:278\u2013299","journal-title":"Sustain Energy Grids Netw"},{"issue":"12","key":"312_CR19","doi-asserted-by":"publisher","first-page":"4762","DOI":"10.1016\/j.jfranklin.2017.05.038","volume":"354","author":"R Sivalingam","year":"2017","unstructured":"Sivalingam R, Chinnamuthu S, Dash SS (2017) A hybrid stochastic fractal search and local unimodal sampling based multistage PDF plus (1\u2009+\u2009PI) controller for automatic generation control of power systems. J Frankl Inst 354(12):4762\u20134783","journal-title":"J Frankl Inst"},{"issue":"4","key":"312_CR20","doi-asserted-by":"publisher","first-page":"410","DOI":"10.1080\/00051144.2018.1465688","volume":"58","author":"R Sivalingam","year":"2017","unstructured":"Sivalingam R, Chinnamuthu S, Dash SS (2017) A modified whale optimization algorithm-based adaptive fuzzy logic PID controller for load frequency control of autonomous power generation systems. Automatika 58(4):410\u2013421","journal-title":"Automatika"},{"key":"312_CR21","first-page":"225","volume-title":"Computational intelligence in data mining. Advances in intelligent systems and computing","author":"PC Sahu","year":"2019","unstructured":"Sahu PC, Prusty RC, Panda S (2019) Stability analysis in RECS-integrated multi-area AGC system with SOS algorithm based fuzzy controller. In: Behera H, Nayak J, Naik B, Abraham A (eds) Computational intelligence in data mining. Advances in intelligent systems and computing, vol 711. Springer, Singapore, pp 225\u2013235"},{"key":"312_CR22","first-page":"408","volume":"62","author":"D Fister","year":"2016","unstructured":"Fister D, Fister I Jr, Fister I, Safaric R (2016) Parameter tuning of PID controller with reactive nature-inspired algorithms. Robot Auton Syst 62:408\u2013422","journal-title":"Robot Auton Syst"},{"key":"312_CR23","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/1090.001.0001","volume-title":"Adaptation in natural and artificial systems","author":"JH Holland","year":"1992","unstructured":"Holland JH (1992) Adaptation in natural and artificial systems. MIT Press, Boston"},{"key":"312_CR24","volume-title":"Evolutionstrategie: optimieruna technischer systeme nach prinzipien der biologischen evolution","author":"I Rechenberg","year":"1973","unstructured":"Rechenberg I (1973) Evolutionstrategie: optimieruna technischer systeme nach prinzipien der biologischen evolution. Frommann-Holzboog-Verlag, Stuttgart"},{"key":"312_CR25","doi-asserted-by":"publisher","first-page":"871","DOI":"10.1007\/978-3-662-43505-2_44","volume-title":"Springer handbook of computational intelligence","author":"N Hansen","year":"2015","unstructured":"Hansen N, Arnold DV, Auger A (2015) Evolution strategies. In: Kacprzyk J, Pedrycs W (eds) Springer handbook of computational intelligence. Springer, Heidelberg, pp 871\u2013898"},{"issue":"4","key":"312_CR26","doi-asserted-by":"publisher","first-page":"341","DOI":"10.1023\/A:1008202821328","volume":"11","author":"RM Storn","year":"1997","unstructured":"Storn RM, Price K (1997) Differential evolution: a simple and efficient heuristic for global optimization over continuous spaces. J Glob Optim 11(4):341\u2013359","journal-title":"J Glob Optim"},{"key":"312_CR27","volume-title":"Differential evolution: a survey of the state-of-the-art","author":"K Price","year":"2005","unstructured":"Price K, Storn RM, Lampinen JA (2005) Differential evolution: a survey of the state-of-the-art. Springer, Berlin"},{"key":"312_CR28","doi-asserted-by":"crossref","unstructured":"Yang XS, Deb S (2009) Cuckoo search via L\u00e8vy flights. In: World congress on nature and biologically inspired computing, Coimbatore, India, December 9","DOI":"10.1109\/NABIC.2009.5393690"},{"key":"312_CR29","volume-title":"Nature-inspired optimization algorithms","author":"XS Yang","year":"2014","unstructured":"Yang XS (2014) Nature-inspired optimization algorithms. Elsevier, London"},{"key":"312_CR30","volume-title":"Robot modeling and control","author":"MW Spong","year":"2006","unstructured":"Spong MW, Hutchinson S, Vidyasagar M (2006) Robot modeling and control. Wiely, New York"},{"key":"312_CR31","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-4399-4","volume-title":"Quad rotorcraft control","author":"L Carrillo","year":"2013","unstructured":"Carrillo L, Lopez A, Lozano R, P\u00e9gard C (2013) Quad rotorcraft control. Springer, London"},{"key":"312_CR32","doi-asserted-by":"publisher","DOI":"10.1007\/s12065-019-00210-z","author":"M Elbes","year":"2019","unstructured":"Elbes M, Alzubi S, Kanan T, Al-Fuqaha A, Hawashin B (2019) A survey on particle swarm optimization with emphasis on engineering and network applications. Evolut Intell. https:\/\/doi.org\/10.1007\/s12065-019-00210-z","journal-title":"Evolut Intell"},{"issue":"1","key":"312_CR33","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1016\/j.jare.2015.03.004","volume":"7","author":"MA Sahib","year":"2013","unstructured":"Sahib MA, Ahmed BS (2013) A new multiobjective performance criterion used in PID tuning optimization algorithms. J Adv Res 7(1):125\u2013134","journal-title":"J Adv Res"},{"issue":"3","key":"312_CR34","doi-asserted-by":"publisher","first-page":"303","DOI":"10.1002\/oca.2069","volume":"35","author":"MA Rhimian","year":"2014","unstructured":"Rhimian MA, Tavazoei MS (2014) Improving integral square error performance with implementable fractional-order PI controllers. Optim Control Appl Methods 35(3):303\u2013323","journal-title":"Optim Control Appl Methods"},{"key":"312_CR35","doi-asserted-by":"crossref","unstructured":"Shahemabadi AR, Noor SBM, Taip FS (2013) Analytical formulation of the integral square error for linear stable feedback control system. In: 2013 IEEE international conference on control system, computing and engineering, Penang, Malaysia, November 29","DOI":"10.1109\/ICCSCE.2013.6719951"},{"issue":"4","key":"312_CR36","first-page":"55","volume":"6","author":"T Jain","year":"2008","unstructured":"Jain T, Nigam MJ (2008) Optimization of PD-PI controller using swarm intelligence. Int J Comput Cognit 6(4):55\u201359","journal-title":"Int J Comput Cognit"},{"key":"312_CR37","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-08-050684-5.50016-1","volume-title":"Genetic algorithms for real parameter optimization","author":"A Wright","year":"1991","unstructured":"Wright A (1991) Genetic algorithms for real parameter optimization. Morgan Kaufmann, San Mateo"},{"issue":"2","key":"312_CR38","first-page":"536","volume":"7","author":"G Ranjitham","year":"2016","unstructured":"Ranjitham G, Shankar-Kumar KR (2016) Large scale multiple-input multiple-output (LS-MIMO) detection using genetic cat swarm optimization. Int J Adv Eng Technol 7(2):536\u2013541","journal-title":"Int J Adv Eng Technol"},{"issue":"5","key":"312_CR39","doi-asserted-by":"publisher","first-page":"823","DOI":"10.1109\/8.774136","volume":"47","author":"BK Yeo","year":"1999","unstructured":"Yeo BK, Lu Y (1999) Array failure correction with a genetic algorithm. IEEE Trans Antennas Propag 47(5):823\u2013828","journal-title":"IEEE Trans Antennas Propag"},{"issue":"2","key":"312_CR40","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1007\/s11760-007-0043-2","volume":"2","author":"L Abdou","year":"2008","unstructured":"Abdou L, Soltani F (2008) OS-CFAR and CMLD threshold optimization in distributed systems using evolutionary strategies. Signal Image Video Process 2(2):155\u2013167","journal-title":"Signal Image Video Process"},{"issue":"7\u20138","key":"312_CR41","doi-asserted-by":"publisher","first-page":"1659","DOI":"10.1007\/s00521-013-1402-2","volume":"24","author":"A Ouaarab","year":"2014","unstructured":"Ouaarab A, Ahiod B, Yang XS (2014) Discrete cuckoo search algorithm for the travelling salesman problem. Neural Comput Appl 24(7\u20138):1659\u20131669","journal-title":"Neural Comput Appl"},{"key":"312_CR42","doi-asserted-by":"publisher","first-page":"63","DOI":"10.1007\/978-3-319-02141-6_4","volume-title":"Cuckoo search and firefly algorithm theory and applications","author":"A Ouaarab","year":"2014","unstructured":"Ouaarab A, Ahiod B, Yang XS (2014) Improved and discrete cuckoo search for solving the travelling salesman problem. In: Yang XS (ed) Cuckoo search and firefly algorithm theory and applications. Springer, Cham, pp 63\u201384"},{"issue":"6","key":"312_CR43","doi-asserted-by":"publisher","first-page":"1616","DOI":"10.1016\/j.cor.2011.09.026","volume":"40","author":"XS Yang","year":"2013","unstructured":"Yang XS, Deb S (2013) Multiobjective cuckoo search for design optimization. Comput Oper Res 40(6):1616\u20131624","journal-title":"Comput Oper Res"},{"key":"312_CR44","doi-asserted-by":"crossref","unstructured":"Acampora G, Ishibuchi H, Vitiello A (2014) A comparison of multi-objective evolutionary algorithms for the ontology meta-matching problem. In: 2014 IEEE congress on evolutionary computation, Beijing, China, July 6","DOI":"10.1109\/CEC.2014.6900544"},{"issue":"2","key":"312_CR45","doi-asserted-by":"publisher","first-page":"1300","DOI":"10.3906\/elk-1511-252","volume":"25","author":"R Klempka","year":"2017","unstructured":"Klempka R, Filipowicz B (2017) Comparison of using the genetic algorithm and cuckoo search for multicriteria optimisation with limitation. Turk J Electr Eng Comput Sci 25(2):1300\u20131310","journal-title":"Turk J Electr Eng Comput Sci"},{"issue":"1","key":"312_CR46","doi-asserted-by":"publisher","first-page":"46","DOI":"10.37936\/ecti-eec.2018161.171326","volume":"16","author":"B Rout","year":"2018","unstructured":"Rout B, Pati BB, Panda S (2018) Modified SCA algorithm for SSSC damping controller design in power system. ECTI Trans Electr Eng Electron Commun 16(1):46\u201363","journal-title":"ECTI Trans Electr Eng Electron Commun"}],"container-title":["Evolutionary Intelligence"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s12065-019-00312-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s12065-019-00312-8\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s12065-019-00312-8.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,3,22]],"date-time":"2021-03-22T06:32:51Z","timestamp":1616394771000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s12065-019-00312-8"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,11,3]]},"references-count":46,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2021,3]]}},"alternative-id":["312"],"URL":"https:\/\/doi.org\/10.1007\/s12065-019-00312-8","relation":{},"ISSN":["1864-5909","1864-5917"],"issn-type":[{"value":"1864-5909","type":"print"},{"value":"1864-5917","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,11,3]]},"assertion":[{"value":"13 January 2019","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"29 May 2019","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"24 October 2019","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 November 2019","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}