PID controllers are relatively common in quad-rotor flight control systems,and one of its essential problems is the tuning and implementation of parameters.Common parameter tuning methods include fuzzy control,neural network and manual parameter tuning.Aiming at the difficulty of PID controller parameter tuning for quad-rotor aircraft,this paper proposes a PID parameter tuning method based on chaotic Particle Swarm Optimization (PSO).First,the fast convergence speed of PSO,and the ergodic and random properties of chaotic sequence as well as its sensitivity to initial values are used to adjust PID parameters more quickly and accurately.In addition,combined with the adaptive inertia weight method,the global search ability and local search ability of the PSO are balanced.In each iteration process,the particles can choose the appropriate inertia weight in each dimension of the search space according to their own situation.The results of simulation experiments show that the chaotic PSO proposed here can quickly and accurately solve the required parameters, which verifies the effectiveness of the algorithm.