Decentralized PID control by using GA optimization applied to a quadrotor

• Autorzy: Hasseni S. E. I. , Abdou L.

Identyfikatory

DOI

10.14313/JAMRIS_2-2018/9

• Języki publikacji: EN

Abstrakty

EN

Quadrotors represent an effective class of aerial robots because of their abilities to work in small areas. We suggested in this research paper to develop an algorithm to control a quadrotor, which is a nonlinear MIMO system and strongly coupled, by a linear control technique (PID), while the parameters are tuned by the Genetic Algorithm (GA). The suggested technique allows a decentralized control by decoupling the linked interactions to effect angles on both altitude and translation position. Moreover, the using a meta-heuristic technique enables a certain ability of the system controllers design without being limited by working on just the small angles and stabilizing just the full actuated subsystem. The simulations were implemented in MATLAB/Simulink tool to evaluate the control technique in terms of dynamic performance and stability. Although the controllers design (PID) is simple, it shows the effect of the proposed technique in terms of tracking errors and stability, even with large angles, subsequently, high velocity response and high dynamic performances with practically acceptable rotors speed.

Słowa kluczowe

EN

quadrotor; non-linear systems; decentralized control; PID; optimization; genetic algorithm

PL

quadrotor; systemy nieliniowe; kontrola zdecentralizowana; PID; optymalizacja; algorytm genetyczny

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2018
• Tom: Vol. 12, No. 2
• Strony: 33--44
• Opis fizyczny: Bibliogr. 35 poz., rys.

Twórcy

autor

Hasseni S. E. I.

• Energy Systems Modeling Laboratory (LMSE), Electrical Engineering Department; University of Biskra, BP 145 RP, 07000, Biskra, Algeria

autor

Abdou L.

• Identification, Command, Control and Communication Laboratory (LI3CUB), Electrical Engineering Department; University of Biskra, BP 145 RP, 07000, Biskra, Algeria

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).