Optimizing control based on fine tune PID using ant colony logic for vertical moving control of UAV system

Fixed-wing UAV has the ability to fly like a plane. For the movement of the flight, a good control system is needed. Part of the flight controls that require our attention among them is the vertical moving control. The controls are used to adjust the vertical movement involving aircraft pitch angle control. To control it, we can use control method that has been commonly used. The control method is a PID (Propositional, Integral and Derivative) control method. PID has three components (Kp, Ki, and Kd). The three components of PID can be obtained in various ways or methods. However, to produce a robust control, a method that can optimize the PID components is needed. Ant Colony Optimization (ACO) is one of PID controller optimization method which adapted by ant colony ability to find the shortest way from their nest to food. Some ACO parameters are a number of ants, parameters, and pheromone component for pheromone. Pheromones are the values given by the ants when they use the road.