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

Yıl 2015, Cilt: 36 Sayı: 3, 135 - 147, 13.05.2015

Abbas Abdollahi Ahmad Foruzan Tabar Hamed Khodadadi

Öz

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.

Anahtar Kelimeler

Tracking Performance, Optimization, PID Control, Quadrotor, Genetic Algorithm

Kaynakça

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