Ateş Böceği Algoritması ile Quadrotor Pozisyon Kontrolü

Yıl 2022, Cilt: 9 Sayı: 2, 554 - 566, 31.05.2022

Büşra Keskin , Kemal Keskin

https://doi.org/10.31202/ecjse.975718

Cited By: 1

Öz

Quadrotor, mükemmel çevikliğe, dört pervaneye ve altı serbestlik derecesine sahip, VTOL özellikli bir insansız hava aracıdır. Basit yapıları ve düşük maliyetleri nedeniyle son yıllarda oldukça ilgi görmektedirler. Görünür basitliğine rağmen, doğrusal olmayışı ve bağlantılı dinamikleri kontrolü zorlaştırır. Basit yapısı nedeniyle PD kontrolü, quadrotorlarda yaygın olarak kullanılmaktadır. Bu makalede, Ateş Böceği Algoritması ve Genetik Algoritma kullanılarak hesaplanan parametreleriyle dört rotorlu bir quadratorun, yükseklik ve konum stabilizasyonu için bir PD denetleyicisi önerilmiştir. Yalnızca hedef pozisyonun hassas bir şekilde konumlandırılmasını sağlamak için değil, aynı zamanda hareketin yerleşme süresini de iyileştirmek için bir amaç fonksiyonu önerilmiştir. Önerilen yöntemin performans doğrulaması için dinlenme konumundan hedef konuma bir test yolu incelenir. Elde edilen bulgular, pozisyon stabilizasyonunun kısa sürede gerçekleştirilebileceğini ve Genetik algoritma tarafından belirlenen ayarlara kıyasla yerleşme süresinin önemli ölçüde azaldığını göstermektedir. Ataş Böceği Algoritması yöntemi ile belirlenen PD kontrolör parametreleri, Genetik Algoritma tarafından seçilenleri geride bırakmaktadır.

Anahtar Kelimeler

Quadrotor konum kontrolü, İrtifa kontrolü, PD kontrol, Ateş Böceği algoritması

Position Control of Quadrotor using Firefly Algorithm

Öz

The quadrotor is a VTOL-capable unmanned aerial vehicle with excellent agility, four propellers, and six degrees of freedom. Because of their simple structure and low cost, they have attracted a lot of interest in recent years. Despite its apparent simplicity, its nonlinearities and linked dynamics make control difficult. Because of its simple nature, PD control is extensively utilized in quadrotors. A PD controller for quadrotor altitude and position stabilization is proposed in this paper, with its parameters calculated using the Firefly Algorithm and Genetic Algorithm. An objective function is developed to offer not only precise positioning of the target position, but also to enhance the motion's settling time. A test path from the rest position to the target position is examined for performance verification of the suggested method. The obtained findings show that position stabilization may be accomplished in a short amount of time, and the settling time is significantly reduced when compared to specified settings by Genetic Algorithm. The PD controller settings determined via the Firefly Algorithm optimization method surpass the ones chosen by Genetic Algorithm with a substantial margin.

Anahtar Kelimeler

Quadrotor position control, altitude control, PD control, Firefly Algorithm

Kaynakça

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