Year 2020, Volume 5 , Issue 1, Pages 1 - 12 2020-08-31

Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm

Mohammad Mehdi FARZANEH [1] , Alireza TAVAKOLPOUR-SALEH [2]


This paper presents a new adaptive and optimal algorithm for the trajectory tracking control of a quadrotor using iterative learning algorithm (ILA) and enumerative learning method. Ordinarily the ILA, as an adaptive method, can perform well with PID control to improve the controller’s performance for a nonlinear system. Quadrotors are considered as nonlinear and unstable systems in which the use of an adaptive and optimal controller can increase its stability and decrease error level. In this method, a PID controller is proposed for the inner and outer control loops of a quadrotor and the ILA is used to adapt PID control gains. Subsequently, an enumerative learning algorithm is used to optimize the learning rates of the ILA. For this purpose, at first, the dynamic model of the quadrotor is acquired. After that, the structure of the control system and the inner and outer control loops are defined. In the end, the simulation results for the trajectory tracking control are demonstrated. Through simulation, it is concluded that as time increases, the performance of the suggested control method in trajectory tracking control becomes better and better and error signals convergence to zero.
Quadrotor, trajectory tracking control, PID control, iterative learning algorithm
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Primary Language en
Subjects Engineering
Journal Section Research Article
Authors

Author: Mohammad Mehdi FARZANEH (Primary Author)
Country: Iran


Author: Alireza TAVAKOLPOUR-SALEH
Country: Iran


Dates

Publication Date : August 31, 2020

Bibtex @research article { jetas629403, journal = {Journal of Engineering Technology and Applied Sciences}, issn = {}, eissn = {2548-0391}, address = {Yıldız Teknik Üniversitesi, Kimya Metalurji Fakültesi, Mathematik Mühendisliği, oda no:A235}, publisher = {Muhammet KURULAY}, year = {2020}, volume = {5}, pages = {1 - 12}, doi = {10.30931/jetas.629403}, title = {Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm}, key = {cite}, author = {Farzaneh, Mohammad Mehdi and Tavakolpour-saleh, Alireza} }
APA Farzaneh, M , Tavakolpour-saleh, A . (2020). Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm . Journal of Engineering Technology and Applied Sciences , 5 (1) , 1-12 . DOI: 10.30931/jetas.629403
MLA Farzaneh, M , Tavakolpour-saleh, A . "Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm" . Journal of Engineering Technology and Applied Sciences 5 (2020 ): 1-12 <https://dergipark.org.tr/en/pub/jetas/issue/54230/629403>
Chicago Farzaneh, M , Tavakolpour-saleh, A . "Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm". Journal of Engineering Technology and Applied Sciences 5 (2020 ): 1-12
RIS TY - JOUR T1 - Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm AU - Mohammad Mehdi Farzaneh , Alireza Tavakolpour-saleh Y1 - 2020 PY - 2020 N1 - doi: 10.30931/jetas.629403 DO - 10.30931/jetas.629403 T2 - Journal of Engineering Technology and Applied Sciences JF - Journal JO - JOR SP - 1 EP - 12 VL - 5 IS - 1 SN - -2548-0391 M3 - doi: 10.30931/jetas.629403 UR - https://doi.org/10.30931/jetas.629403 Y2 - 2020 ER -
EndNote %0 Journal of Engineering Technology and Applied Sciences Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm %A Mohammad Mehdi Farzaneh , Alireza Tavakolpour-saleh %T Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm %D 2020 %J Journal of Engineering Technology and Applied Sciences %P -2548-0391 %V 5 %N 1 %R doi: 10.30931/jetas.629403 %U 10.30931/jetas.629403
ISNAD Farzaneh, Mohammad Mehdi , Tavakolpour-saleh, Alireza . "Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm". Journal of Engineering Technology and Applied Sciences 5 / 1 (August 2020): 1-12 . https://doi.org/10.30931/jetas.629403
AMA Farzaneh M , Tavakolpour-saleh A . Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm. jetas. 2020; 5(1): 1-12.
Vancouver Farzaneh M , Tavakolpour-saleh A . Adaptive Trajectory Tracking Control of a Quadrotor Based on Iterative Learning Algorithm. Journal of Engineering Technology and Applied Sciences. 2020; 5(1): 1-12.