Derrouaoui, Saddam HocineBouzid, YasserGuiatni, Mohamed2025-04-212025-04-212021http://dspace.univ-oeb.dz:4000/handle/123456789/21959In this work, and for the first time, a Fractional Order Proportional Integral Derivative (FOPID) controller tuned by Particle Swarm Optimization (PSO) algorithm, is investigated to control and stabilize the attitude and position of a reconfigurable multirotor in the presence of uncertain geometric parameters. Furthermore, the variation of the structure parameters makes the flight stability and control of this aerial vehicle very challenging tasks differently to the classical drone. Our proposed control architecture considers the variable dynamic of this structure and calculates these changes on-line in the control loop.enReconfigurable multirotor; uncertain geometric parameters; FOPID: Fractional Order Proportional Integral DerivativeArticle