Metaheuristic algorithm-based cascade PID controller design for fixed wing unmanned aerial vehicle

Year 2023, , 230 - 237, 20.12.2023

Mehmet Durmaz , Kenan Cici , Muhammet Sarıkaya , Mesut Bilici , Hasan Hüseyin Bilgiç

https://doi.org/10.26701/ems.1243796

Abstract

In this study, the nonlinear model of the longitudinal motion and altitude of a fixed-wing unmanned aerial vehicle with assured geometrical features and aerodynamic parameters is linearized under certain conditions. A cascade Proportional Integral Differential Controller is designed on the linear model. The controller coefficients that applied to the model of the UAV were optimized with an artificial intelligence technique, which is based on a metaheuristic search algorithm. The four different controller gains in the system are optimized using four different objective functions. Controller performances were tested in simulation environment for unit step input responses., Considering the longitudinal dynamics of the aircraft, among the ITAE, ISE, MSE, and IAE fitness functions, IAE can be shown as the optimum result for altitude control.

Keywords

Cascade PID, UAV, ABC Algorithm, Optimisation

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