Method for controlling quadrotor unmanned aerial vehicle by applying improved particle swarm optimization algorithm

The invention relates to the field of automatic control over unmanned aerial vehicles. A method for controlling a quadrotor unmanned aerial vehicle by applying an improved particle swarm optimizationalgorithm comprises the steps that initial particle swarms are randomly established; if a particle of which the fitness value is less than that of a population optimal particle Pg exists in the particle swarms during current iteration, the population optimal particle Pg is replaced with the particle; if a single particle of which the fitness value is less than that of an individual historical optimal particle Pj exists during current iteration, the individual historical optimal particle Pj is replaced with the particle; and the adjusting probability P of the population is calculated accordingto the formula (please see the formula in the specification). According to the method, a genetic-particle swarm optimization algorithm is improved by introducing the mechanisms of a cross algorithm and a mutation algorithm, th