BibTex RIS Cite
Year 2015, Volume: 36 Issue: 3, 135 - 147, 13.05.2015

Abstract

References

  • K. Valavanis, “Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy, ser. Micro- processor-Based and Intelligent Systems Engineering,” Springer-Verlag, Berlin, 2007.
  • S. Bouabdallah and R. Siegwart, “Back-Stepping and Slid- ing-Mode Techniques Applied to an Indoor Micro Qua- drotor,” Proceedings of the IEEE International Confer- ence of Robotic and Automatic, Barcelona, April 2005, pp. 2451-2456.
  • A. Tayebi and S. McGilvray, “Attitude Stabilization of a VTOL Quadrotor Aircraft,” IEEE Tranactions on Control Systems Technology, Vol. 14, No. 3, 2006, pp. 562-571.
  • K. Alexis, G. Nikolakopoulos and A. Tzea, “Constrained Optimal Attitude Control of a Quadrotor Helicopter Sub- ject to Wind-Gusts: Experimental Studies,” American Con- trol Conference, Baltimore, 30 June-2 July 2010, pp. 4451- 4455.
  • H. Yang, R. Abousleiman, B. Sababaha, E. Gjoni, D. Korff and O. Rawashded, “Implementation of an Auto- nomous Surveillance Quadrotor System,” AIAA Infotech Aerospace Conference, Seattle, 6-9 April 2009, pp. 2009- 2047.
  • P. Castillo, R. Lozano and A. Dzul, “Modelling and Con- trol of Mini Flying Machines,” Springer-Verlag, London, 2005.
  • A. Das and K. S. Lewis, “Dynamic Inversion with Zero- Dynamics Stabilisation for Quadrotor Control,” IET Con- trol Theory and Application, Vol. 3, No. 3, 2009, pp. 303-314.
  • A. Mokbari and A. Benallegue, “Dynamic Feedback Con- troller of Euler Angles and Wind Parameters Estimation for a Quadrotor Unmanned Aerial Vehicle,” Proceedings of the IEEE International Conference of Robotic and Automatic, New Orleans, 26 April-1 May 2004, pp. 2359- 2366.
  • M. Huang, B. Xian, C. Diao, K. Yang and Y. Fung, “Adap- tive Tracking Control of Under actuated Quadrotor Un- manned Aerial,” American Control Conference, Balti-more, 2010, pp. 2076-2081.
  • S. Bouabdallah, A. Noth and R. Siegwart, “PID vs LQ Control Techniques Applied to an Indoor Micro Quadro- tor,” Proceedings of the IEEE International Conference of Intelligent Robots Systems, Sendai, 28 September-2 October 2004, pp. 2451-2456.
  • L. C. Lai, C. C. Yang and C. J. Wu, “Time-Optimal Con- trol of a Hovering Quad-Rotor Helicopter,” Journal of Intelligent and Robotic Systems, Vol. 45, No. 2, 2006, pp.
  • C. Balas, “Modeling and Linear Control of a Quadrotor,” M.S. Thesis, Cranfield University, Bedford, 2007.
  • S. Skogestad, “Simple Analytic Rules for Model Reduc-tion and PID Controller Tuning,” Journal of Process Control, Vol. 13, No. 4, 2003, pp. 291-309.
  • Gen, Mitsuo, and Runwei Cheng. Genetic algorithms and engineering optimization. Vol. 7. John Wiley & Sons, 2000.
  • Panda, Sidhartha, and Narayana Prasad Padhy. "Comparison of particle swarm optimization and genetic algorithm for FACTS-based controller design." Applied soft computing 8.4 (2008): 1418-1427.

Optimal Controller Design for Quadrotor by Genetic Algorithm with the Aim of Optimizing the Response and Control Input signals

Year 2015, Volume: 36 Issue: 3, 135 - 147, 13.05.2015

Abstract

Abstract. This paper presents an optimal approach to control, stabilization and providing Tracking performance of attitude subsystem of quadrotor. The controller structure is based on Proportional- Integral Derivative (PID) control and Genetic Algorithm method is used to tune parameters of PID controller optimally. SISO approach is implemented for control structure to achieve desired objectives (second order linear Transfer Function is used to form  states). The performance of the designed control structure is evaluated through time domain factors such as overshoot, rise time, settling time and steady state error index, and control input signal optimality. The cost function for Genetic Algorithm implementation includes both output response criterions and Magnitude of input control signal. The effectiveness of the proposed method is confirmed with simulation results for square and sinuous reference inputs. Finally, simulation results at the end, demonstrates the excellent and optimal performance for our designed controller.

References

  • K. Valavanis, “Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy, ser. Micro- processor-Based and Intelligent Systems Engineering,” Springer-Verlag, Berlin, 2007.
  • S. Bouabdallah and R. Siegwart, “Back-Stepping and Slid- ing-Mode Techniques Applied to an Indoor Micro Qua- drotor,” Proceedings of the IEEE International Confer- ence of Robotic and Automatic, Barcelona, April 2005, pp. 2451-2456.
  • A. Tayebi and S. McGilvray, “Attitude Stabilization of a VTOL Quadrotor Aircraft,” IEEE Tranactions on Control Systems Technology, Vol. 14, No. 3, 2006, pp. 562-571.
  • K. Alexis, G. Nikolakopoulos and A. Tzea, “Constrained Optimal Attitude Control of a Quadrotor Helicopter Sub- ject to Wind-Gusts: Experimental Studies,” American Con- trol Conference, Baltimore, 30 June-2 July 2010, pp. 4451- 4455.
  • H. Yang, R. Abousleiman, B. Sababaha, E. Gjoni, D. Korff and O. Rawashded, “Implementation of an Auto- nomous Surveillance Quadrotor System,” AIAA Infotech Aerospace Conference, Seattle, 6-9 April 2009, pp. 2009- 2047.
  • P. Castillo, R. Lozano and A. Dzul, “Modelling and Con- trol of Mini Flying Machines,” Springer-Verlag, London, 2005.
  • A. Das and K. S. Lewis, “Dynamic Inversion with Zero- Dynamics Stabilisation for Quadrotor Control,” IET Con- trol Theory and Application, Vol. 3, No. 3, 2009, pp. 303-314.
  • A. Mokbari and A. Benallegue, “Dynamic Feedback Con- troller of Euler Angles and Wind Parameters Estimation for a Quadrotor Unmanned Aerial Vehicle,” Proceedings of the IEEE International Conference of Robotic and Automatic, New Orleans, 26 April-1 May 2004, pp. 2359- 2366.
  • M. Huang, B. Xian, C. Diao, K. Yang and Y. Fung, “Adap- tive Tracking Control of Under actuated Quadrotor Un- manned Aerial,” American Control Conference, Balti-more, 2010, pp. 2076-2081.
  • S. Bouabdallah, A. Noth and R. Siegwart, “PID vs LQ Control Techniques Applied to an Indoor Micro Quadro- tor,” Proceedings of the IEEE International Conference of Intelligent Robots Systems, Sendai, 28 September-2 October 2004, pp. 2451-2456.
  • L. C. Lai, C. C. Yang and C. J. Wu, “Time-Optimal Con- trol of a Hovering Quad-Rotor Helicopter,” Journal of Intelligent and Robotic Systems, Vol. 45, No. 2, 2006, pp.
  • C. Balas, “Modeling and Linear Control of a Quadrotor,” M.S. Thesis, Cranfield University, Bedford, 2007.
  • S. Skogestad, “Simple Analytic Rules for Model Reduc-tion and PID Controller Tuning,” Journal of Process Control, Vol. 13, No. 4, 2003, pp. 291-309.
  • Gen, Mitsuo, and Runwei Cheng. Genetic algorithms and engineering optimization. Vol. 7. John Wiley & Sons, 2000.
  • Panda, Sidhartha, and Narayana Prasad Padhy. "Comparison of particle swarm optimization and genetic algorithm for FACTS-based controller design." Applied soft computing 8.4 (2008): 1418-1427.
There are 15 citations in total.

Details

Journal Section Special
Authors

Abbas Abdollahi

Ahmad Foruzan Tabar This is me

Hamed Khodadadi This is me

Publication Date May 13, 2015
Published in Issue Year 2015 Volume: 36 Issue: 3

Cite

APA Abdollahi, A., Foruzan Tabar, A., & Khodadadi, H. (2015). Optimal Controller Design for Quadrotor by Genetic Algorithm with the Aim of Optimizing the Response and Control Input signals. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi, 36(3), 135-147.
AMA Abdollahi A, Foruzan Tabar A, Khodadadi H. Optimal Controller Design for Quadrotor by Genetic Algorithm with the Aim of Optimizing the Response and Control Input signals. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi. May 2015;36(3):135-147.
Chicago Abdollahi, Abbas, Ahmad Foruzan Tabar, and Hamed Khodadadi. “Optimal Controller Design for Quadrotor by Genetic Algorithm With the Aim of Optimizing the Response and Control Input Signals”. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi 36, no. 3 (May 2015): 135-47.
EndNote Abdollahi A, Foruzan Tabar A, Khodadadi H (May 1, 2015) Optimal Controller Design for Quadrotor by Genetic Algorithm with the Aim of Optimizing the Response and Control Input signals. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi 36 3 135–147.
IEEE A. Abdollahi, A. Foruzan Tabar, and H. Khodadadi, “Optimal Controller Design for Quadrotor by Genetic Algorithm with the Aim of Optimizing the Response and Control Input signals”, Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi, vol. 36, no. 3, pp. 135–147, 2015.
ISNAD Abdollahi, Abbas et al. “Optimal Controller Design for Quadrotor by Genetic Algorithm With the Aim of Optimizing the Response and Control Input Signals”. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi 36/3 (May 2015), 135-147.
JAMA Abdollahi A, Foruzan Tabar A, Khodadadi H. Optimal Controller Design for Quadrotor by Genetic Algorithm with the Aim of Optimizing the Response and Control Input signals. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi. 2015;36:135–147.
MLA Abdollahi, Abbas et al. “Optimal Controller Design for Quadrotor by Genetic Algorithm With the Aim of Optimizing the Response and Control Input Signals”. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi, vol. 36, no. 3, 2015, pp. 135-47.
Vancouver Abdollahi A, Foruzan Tabar A, Khodadadi H. Optimal Controller Design for Quadrotor by Genetic Algorithm with the Aim of Optimizing the Response and Control Input signals. Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi. 2015;36(3):135-47.