- Tytuł:
- Decentralized PID control by using GA optimization applied to a quadrotor
- Autorzy:
-
Hasseni, S. E. I.
Abdou, L. - Powiązania:
- https://bibliotekanauki.pl/articles/384905.pdf
- Data publikacji:
- 2018
- Wydawca:
- Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
- Tematy:
-
quadrotor
non-linear systems
decentralized control
PID
optimization
genetic algorithm
systemy nieliniowe
kontrola zdecentralizowana
optymalizacja
algorytm genetyczny - Opis:
- Quadrotors represent an effective class of aerial robots because of their abilities to work in small areas. We suggested in this research paper to develop an algorithm to control a quadrotor, which is a nonlinear MIMO system and strongly coupled, by a linear control technique (PID), while the parameters are tuned by the Genetic Algorithm (GA). The suggested technique allows a decentralized control by decoupling the linked interactions to effect angles on both altitude and translation position. Moreover, the using a meta-heuristic technique enables a certain ability of the system controllers design without being limited by working on just the small angles and stabilizing just the full actuated subsystem. The simulations were implemented in MATLAB/Simulink tool to evaluate the control technique in terms of dynamic performance and stability. Although the controllers design (PID) is simple, it shows the effect of the proposed technique in terms of tracking errors and stability, even with large angles, subsequently, high velocity response and high dynamic performances with practically acceptable rotors speed.
- Źródło:
-
Journal of Automation Mobile Robotics and Intelligent Systems; 2018, 12, 2; 33-44
1897-8649
2080-2145 - Pojawia się w:
- Journal of Automation Mobile Robotics and Intelligent Systems
- Dostawca treści:
- Biblioteka Nauki
Artykuł