  This paper presents a new Proportional-Integral-Derivative-Accelerated (PIDA)
control with a derivative filter to improve quadcopter flight stability in a
noisy environment. The mathematical model is derived from having an accurate
model with a high level of fidelity by addressing the problems of
non-linearity, uncertainties, and coupling. These uncertainties and measurement
noises cause instability in flight and automatic hovering. The proposed
controller associated with a heuristic Genetic Filter (GF) addresses these
challenges. The tuning of the proposed PIDA controller associated with the
objective of controlling is performed by Stochastic Dual Simplex Algorithm
(SDSA). GF is applied to the PIDA control to estimate the observed states and
parameters of quadcopters in both attitude and altitude. The simulation results
show that the proposed control associated with GF has a strong ability to track
the desired point in the presence of disturbances.
