Multi-Parameter Optimization of Sliding-Mode Controller for Quadcopter Application

Yıl 2018, Cilt: 3 Sayı: 1, 14 - 28, 30.06.2018

İsmail Can Dikmen , Teoman Karadağ , Celaleddin Yeroğlu

Öz

For many years,
quadcopters are quite popular in the academic field because of its structural
simplicity. However, this property comes out the problem of designing an
effective controller. Designing a controller for quadcopter is rather
complicated because tuning of the controller parameters of multi-rotor
structure to achieve a desired performance for agility, flying efficiency and
immediate reaction is a challenging problem. To deal with such a difficulty,
Ant Colony Optimization (ACO), Invasive Weed Optimization (IWO) and Firefly
Optimization (FO) algorithms are used to obtain optimal parameters of Sliding
Mode Controller (SMC). SMC is used for both attitude and position control of
the quadcopter. By taking into consideration all six variables with different
number of parameters (total number of parameters to be optimized are nineteen).
This makes it a complicated tuning problem. In this numerical study,
performance results of optimization algorithms are compared with respect to
convergence rate and cost function.

Anahtar Kelimeler

quadcopter, ant colony optimization, firefly optimization, invasive weed optimization, sliding mode control

Quadcopter Uygulamaları için Kayma Kipli Kontrolörün Çok Parametreli Optimizasyonu

Öz

Uzun yıllardan beri, quadcopterler, yapısal sadeliği nedeniyle akademik alanda oldukça popülerdir. Ancak, bu özellik etkili bir denetleyici tasarlama sorununu ortaya çıkarmaktadır. Quadcopter
için bir kontrolör tasarlamak oldukça karmaşıktır çünkü çok rotorlu
yapının kontrolör parametrelerinin ayarlanması, çeviklik, uçuş
verimliliği ve anlık reaksiyon için istenen performansı sağlamak bakımından zor bir problemdir. Böyle
bir zorlukla başa çıkmak için, Karınca Koloni Optimizasyonu (ACO), Yayılmacı Yosun Optimizasyonu (IWO) ve Ateş Böceği Optimizasyonu (FO) algoritmaları, kayma kipli kontrolörün (SMC) optimal parametrelerini elde etmek
için uygulanmıştır. SMC, quadcopter'in hem durumsal hem de pozisyon kontrolü için çift katmanlı olarak tasarlanıp kullanılmıştır. Farklı sayıda parametreye sahip altı değişkenin hesaba katılmasıyla optimize edilecek toplam parametre sayısı on dokuz olmuştur. Bu da karmaşık bir ince ayarlama problemini ortaya çıkartmaktadır. Bu
sayısal çalışmada, optimizasyon algoritmalarının performans sonuçları,
yakınsama oranı ve maliyet fonksiyonuna göre karşılaştırmalı olarak sunulmuştur.

Anahtar Kelimeler

quadcopter, karınca kolonisi optimizasyonu, ateş böceği optimizasyonu, yayılmacı yusun optimizasyonu, kayma kipli kontrol

Kaynakça

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