Optimization of the Coefficients of the Proportional-Integral-Derivative Controller Designed for Vertical Motion of the Quadrotor with Genetic Algorithm

Year 2020, Volume: 12 Issue: 3, 119 - 124, 31.12.2020

Zafer Civelek

https://doi.org/10.29137/umagd.828384

Abstract

Unmanned aerial vehicles (UAVs) have found wide application areas in civil and military. Their low-cost physical structure and less complex control structures compared to their counterparts have made these devices the target of many researchers. In this study, the coefficients of the proportional-integral-derivative (PID) controller that controls the vertical movement of four-motor UAVs have been optimized with the genetic algorithm (GA). GA is coded in Matlab / Script language. Mathematical model of Quadrotor was developed in Matlab environment. The simulation results show that the GA has successfully optimized the coefficients of the PID controller.

Keywords

quadrotor, pid, genetic algorithm, control

Quadrotorün Dikey Hareketi için Tasarlanan Oransal-İntegral-Türevsel Kontrolörünün Katsayılarının Genetik Algoritma ile Optimizasyonu

Abstract

İnsansız hava araçları (İHA) sivil ve askeri alanlarda oldukça geniş uygulama alanları bulmuşlardır. Düşük maliyetli fiziksel yapıları ve emsallerine göre daha az karmaşık kontrol yapıları, bu cihazları birçok araştırmacının hedefi yapmıştır. Bu çalışmada dört motorlu İHA’nın dikey yönde hareketini kontrol eden oransal-integral-türevsel (PID) kontrolörün katsayıları Genetik Algoritma (GA) ile optimize edilmiştir. GA, Matlab/Script dilinde kodlanmıştır. Quadratörün matematiksel modeli Matlab ortamında geliştirilmiştir. Simülasyon sonuçları GA’nın PID kontrolörün katsayılarını başarıyla optimize ettiğini göstermektedir.

Keywords

quadratör, pid, genetik algoritma

References

• Abdolhosseini, M., Zhang, Y., robotic, C. R.-J. of intelligent &, & 2013, undefined. (n.d.). An efficient model predictive control scheme for an unmanned quadrotor helicopter. Springer. Retrieved October 28, 2020, from https://link.springer.com/content/pdf/10.1007/s10846-012-9724-3.pdf
• Bouffard, P., Aswani, A., International, C. T.-2012 I., & 2012, undefined. (n.d.). Learning-based model predictive control on a quadrotor: Onboard implementation and experimental results. Ieeexplore.Ieee.Org. Retrieved October 28, 2020, from https://ieeexplore.ieee.org/abstract/document/6225035/
• Dydek, Z., … A. A.-… T. on control, & 2012, undefined. (n.d.). Adaptive control of quadrotor UAVs: A design trade study with flight evaluations. Ieeexplore.Ieee.Org. Retrieved October 28, 2020, from https://ieeexplore.ieee.org/abstract/document/6220873/
• Goodarzi, F., Lee, D., & Lee, T. (2013). Geometric nonlinear PID control of a quadrotor UAV on SE(3). 2013 European Control Conference, ECC 2013, 3845–3850. https://doi.org/10.23919/ecc.2013.6669644
• Li, J., & Li, Y. (2011). Dynamic analysis and PID control for a quadrotor. 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, 573–578. https://doi.org/10.1109/ICMA.2011.5985724
• Madani, T., International, A. B.-2006 I., & 2006, undefined. (n.d.). Backstepping control for a quadrotor helicopter. Ieeexplore.Ieee.Org. Retrieved October 27, 2020, from https://ieeexplore.ieee.org/abstract/document/4058900/?casa_token=dQH8u6f5YWUAAAAA:ii12Y0DQF_ekTjLsuLSzFZp8ZP1dzLME5tSNDbEMxYjQ6I_WnOcyAHtkQmyfMw2EZBznKHOF8g
• Nicol, C., … C. M.-… C. on E., & 2008, undefined. (n.d.). Robust neural network control of a quadrotor helicopter. Ieeexplore.Ieee.Org. Retrieved October 28, 2020, from https://ieeexplore.ieee.org/abstract/document/4564736/
• Raffo, G., Ortega, M., Automatica, F. R.-, & 2010, undefined. (n.d.). An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter. Elsevier. Retrieved October 28, 2020, from https://www.sciencedirect.com/science/article/pii/S0005109809004798
• Reyes-Valeria, E., … R. E.-C.-C., & 2013, undefined. (n.d.). LQR control for a quadrotor using unit quaternions: Modeling and simulation. Ieeexplore.Ieee.Org. Retrieved October 28, 2020, from https://ieeexplore.ieee.org/abstract/document/6525781/
• Santos Peñas, M., López, V., Santos, M., & Madrid, T. (2010). Intelligent fuzzy controller of a quadrotor Early prediction of depressive disorders based on complexity analysis and machine learning View project PriceProfor View project Intelligent Fuzzy Controller of a Quadrotor Franciso Morata. Ieeexplore.Ieee.Org. https://doi.org/10.1109/ISKE.2010.5680812
• Shao, X., Liu, J., Cao, H., Shen, C., & Wang, H. (2018). Robust dynamic surface trajectory tracking control for a quadrotor UAV via extended state observer. International Journal of Robust and Nonlinear Control, 28(7), 2700–2719. https://doi.org/10.1002/rnc.4044
• Xu, R., Control, U. O.-I. C. on D. and, & 2006, undefined. (n.d.). Sliding mode control of a quadrotor helicopter. Ieeexplore.Ieee.Org. Retrieved October 27, 2020, from https://ieeexplore.ieee.org/abstract/document/4177181/?casa_token=1V4tu_LTXrQAAAAA:IoPm4aZbbWy4QbC_5Y4uyMGIQl_LnMks1jDd65FezifDHMCYwaBliwZo-_PNIAYbMwIcYH7X_A