In　this　paper,　the　Proportion-Integral-Derivative　(PID)　controller　is　used　in　hover　control　of　the　quadrotor　unmanned　aerial　vehicle　(UAV).　PID　controller　is　widely　used　because　of　its　good　control　effect,　simple　implementation　and　so　on.　The　tuning　of　its　parameters　is　the　key　problem　in　the　design　of　PID　controllers.　Aiming　at　the　difficulty　of　parameter　tuning　of　PID　controller,　the　method　of　combining　inheritance　operation　of　genetic　algorithm　and　particle　swarm　optimization　(PSO)　is　used　to　tuning　the　PID　parameters,　and　the　inertia　weight　of　PSO　is　adjusted　dynamically.　That　is,　locally　inherited　particle　swarm　optimization　algorithm　with　dynamic　adjustment　of　inertia　weight　(WLIPSO).　The　feasibility　of　the　improved　algorithm　is　verified　by　simulation　experiments.　The　simulation　results　show　that　WLIPSO　compared　with　the　traditional　particle　swarm　algorithm　and　genetic　algorithms　(GA)　has　faster　convergence　speed,　better　performance　and　can　provide　good　control　effect.