Optimal control of an Aerial Robot

Zarafshan, Payam; Moosavian, S.B.; Moosavian, S. Ali A.; Bahrami, M.

doi:10.1109/aim.2008.4601847

Cited by 10 publications

(3 citation statements)

References 10 publications

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“…The predictive control is one of the effective techniques of the nonlinear systems, it is developed in [8], [9], where the authors have used the piecewise affine systems to derive the predictive model. The optimal control is also a very effective way of controller's synthesize of unmanned aerial vehicles [10], [11], in [12] a linearized model of the quadrotor rotational subsystem was derived for applied the LQR control. The most classical linear controller, which is the PID have been used in the unmanned aerial vehicles [13] because of its simplicity.…”

Section: System Modelingmentioning

confidence: 99%

Decentralized PID Control by Using GA Optimization Applied to a Quadrotor

Hasseni¹,

Abdou²

2018

JAMRIS

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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.

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Section: System Modelingmentioning

confidence: 99%

Decentralized PID Control by Using GA Optimization Applied to a Quadrotor

Hasseni¹,

Abdou²

2018

JAMRIS

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“…For applying the rules of the sliding-mode control approach (8) and (15) to the robot model of quadrotor UAV, the software MATLAB is accurately carried out. The numerical values of the parameters of the sliding-mode control approach are acquired [28] and are presented in Table 2.…”

Section: Smc Controlmentioning

confidence: 99%

“…With regard to significance of topic of this research, to date numerous activities have been conducted at the area of optimization of UAVs via nonlinear controllers, so that there are numerous ways to control an UAVs [4,7,8]. Use of fuzzy logic regarding capabilities of this method in controlling nonlinear systems is one way to control UAVs.…”

Section: Introductionmentioning

confidence: 99%

Hybrid fuzzy-based sliding-mode control approach, optimized by genetic algorithm for quadrotor unmanned aerial vehicles

Pazooki

Mazinan

2017

Complex Intell. Syst.

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According to the diverse applications of quadrotors in various military and space industries, this study attempts to focus on the modeling and simulation of a particular type of such robots, entitled unmanned aerial vehicles. The quadrotors are the vertical flying robots that contain four engines with impeller and it is possible to control this flyer with respect to the transitional force on these impellers. In fact, the quadrotors are the flyers with four propellers in a crisscross structure. These propellers allow the possibility of various movements to the quadrotors in such a way that control signals are applied to its operators and the difference in rotor speeds leads to the generation of different forces and movements. Such systems are dynamically unstable. Due to the nonlinear nature of quadrotor systems, modeling uncertainties and unmodeled dynamics in these systems, the need to design a suitable controller for optimal performance in different working conditions is strongly felt. In this paper, research on the modeling of unmanned flying robots in recent years is firstly reviewed and a mathematical model has been proposed for quadrotor robots with 6 degrees of freedom on the basis of the popular Newton-Euler equations. In the following, the capability of hybrid fuzzy-based sliding-mode control approach has been used to ensure the system stability. In addition, the genetic algorithm has been added to the control structure in order to optimize the proposed con-

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Real-time Stabilization of a Quadrotor UAV: Nonlinear Optimal and Suboptimal Control

Santos¹,

Romero²,

Salazar

et al. 2012

J Intell Robot Syst

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International audienceIn this paper a nonlinear suboptimal stabilizing control strategy based on Control Lyapunov Functions (CLF) is synthesized and applied to a quadrotor helicopter. Sufficient conditions are obtained for this control law to ensure the asymptotic stability of the closed loop system. Furthermore, a particular methodology to find a CLF candidate for nonlinear affine system is also presented, which is highly relevant because the dynamical model representing the VTOL aerial vehicles have this affine structure. Using this CLF candidate, we are able to synthesize a nonlinear stabilizing optimal control law which allows energy saving. Numerical simulations were developed for both control strategies and real time experiments have been performed using the nonlinear stabilizing control algorithm. The numerical simulations have shown a successful performance of the autonomous aerial vehicle

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Optimal control of an Aerial Robot

Cited by 10 publications

References 10 publications

Decentralized PID Control by Using GA Optimization Applied to a Quadrotor

Decentralized PID Control by Using GA Optimization Applied to a Quadrotor

Hybrid fuzzy-based sliding-mode control approach, optimized by genetic algorithm for quadrotor unmanned aerial vehicles

Real-time Stabilization of a Quadrotor UAV: Nonlinear Optimal and Suboptimal Control

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