Gradient Descent approach for PID parameter tuning

What is gradient descent ? 

Why it is with PID controller?

Why only gradient descent ?

What is the befit we will get with this ?

All these questions will be answered in this post.

Using Gradient descent we have tested a way point navigation task with Parrot Ardrone 2.0 with PTAM.

 

We have used this Gradient Descent method to tune the PID parameters of a controller designed for UAV Quadrotor.

This work has been published in IEEE Xplore as a proceeding of  ICAR 2017 .

Publication URL : http://ieeexplore.ieee.org/abstract/document/8023513/