Parameters tuning of a quadrotor PID controllers by using nature-inspired algorithms

Hasseni, Seif-El-Islam; Abdou, Latifa; Glida, Hossam-Eddine

doi:10.1007/s12065-019-00312-8

Cited by 36 publications

(22 citation statements)

References 33 publications

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“…Putra et al [74] proposed a PID controller tuned using the fast GA technique where results demonstrated its superiority over the conventional GA in speeding up the optimizing generation achievement and reducing the simulation execution time. Hasseni et al [75] carried out a comparative study of a PID controller based on stochastic nature-inspired algorithms of GA, evolution strategies (ES), differential evolutionary (DE), and cuckoo search (CS) to control a quadcopter according to a reference tracking task. The success of the GA and ES in obtaining the best path tracking was revealed.…”

Section: Quad-rotor Systemsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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This paper presents a review of the various control strategies that have been conducted to address and resolve several challenges for a particular category of unmanned aerial vehicles (UAVs), the emphasis of which is on the rotorcraft or rotary-wing systems. Initially, a brief overview of the important relevant definitions, configurations, components, advantages/disadvantages, and applications of the UAVs is first introduced in general, encompassing a wide spectrum of the flying machines. Subsequently, the focus is more on the two most common and versatile rotorcraft UAVs, namely, the twin-rotor and quadrotor systems. Starting with a brief background on the dual-rotor helicopter and a quadcopter, the full detailed mathematical dynamic model of each system is derived based on the Euler-Lagrange and Newton-Euler methods, considering a number of assumptions and considerations. Then, a state-of-the-art review of the diverse control strategies for controlling the rotorcraft systems with conceivable solutions when the systems are subjected to the different impediments is demonstrated. To counter some of these limitations and adverse operating/loading conditions in the UAVs, several innovative control techniques are particularly highlighted, and their performance are duly analyzed, discussed, and compared. The applied control techniques are deemed to produce a useful contribution to their successful implementation in the wake of varied constraints and demanding environments that result in a degree of robustness and efficacy. Some of the off-the-shelf developments in the rotorcraft systems for research and commercial applications are also presented.

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Section: Quad-rotor Systemsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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“…However, to control the quadcopter is difficult and challenging since the system is strongly coupled and nonlinear [5]. In addition, it is also severely underactuated since it has six degrees of freedom (three translational and three rotational) that need to be controlled by only four independent inputs (rotor speeds), which brings about the complexity in its position and attitude control [3,6,7].…”

Section: Introductionmentioning

confidence: 99%

An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control

2021

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A quadcopter control system is a fundamentally difficult and challenging problem because its dynamics modelling is highly nonlinear, especially after accounting for the complicated aerodynamic effects. Plus, its variables are highly interdependent and coupled in nature. There are six controllers studied and analysed in this work which are (1) Proportional-Integral-Derivative (PID), (2) Proportional-Derivative (PD), (3) Linear Quadratic Regulator (LQR), ( 4) Proportional-Linear Quadratic Regulator (P-LQR), ( 5) Proportional-Derivative-Linear Quadratic Regulator (PD-LQR) and lastly (6) the proposed controller named Proportional-Double Derivative-Linear Quadratic Regulator (PD2-LQR) controller. The altitude control and attitude stabilization of the quadcopter have been investigated using MATLAB/Simulink software. The mathematical model of the quadcopter using the Newton-Euler approach is applied to these controllers has illuminated the attitude (i.e. pitch, yaw, and roll) and altitude motions of the quadcopter. The simulation results of the proposed PD2-LQR controller have been compared with the PD, PID, LQR, P-LQR, and PD-LQR controllers. The findings elucidated that the proposed PD2-LQR controller significantly improves the performance of the control system in almost all responses. Hence, the proposed PD2-LQR controller can be applied as an alternative controller of all four motions in quadcopters.

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“…An important reason of the attraction from the research studies in the fields of military, industry and hobbyist is in the diversity of the application areas such as inspection, datalogging, search and rescue, surveillance, fire protection and cargodelivery (Mohammadi et al, 2018) - (Qian and Liu, 2020). UAVs can be grouped as their motion mode of wings (Wang and Liu, 2019): fixed-wing (Kownacki and Ambroziak, 2017), rotary-wing (Mahony et al, 2012) and flexiblewing (He and Zhang, 2017). The quadrotor is one of the most popular types of rotary-wing UAVs due to its mechanical properties and numerous advantages such as vertical take-off and landing, hovering, low-speed flight and high maneuverability capabilities (Choutri et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

Improved PID rate control of a quadrotor with a convexity-based surrogated model

Kaba

2021

AEAT

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Purpose The purpose of this paper is to develop, extend and propose an improved proportional integral derivative (PID) rate control of a quadrotor unmanned aerial vehicle based on a convexity-based surrogated firefly algorithm. Design/methodology/approach An improved PID controller structure is proposed for the rate dynamics of the quadrotor. Optimality of the controller is ensured by a recent, simple yet efficient firefly optimization method. The hybrid structure is further enhanced with a convexity-based surrogated model function. Findings Monte Carlo, transient response, error metrics and histogram distribution analyzes are conducted to show the performance of the proposed controller. The performance of the proposed method is evaluated under various convex combination values to further investigate the effect of the proposed surrogated model. According to the results, the proposed method is capable of controlling the rate quadrotor dynamics with the steady-state error of 0.0023 (rad/s) for P, −0.0024 (rad/s) for Q and 0 (rad/s) for the R state, respectively. Also, the least mean objective value is achieved at = 0 value of convexity in Monte Carlo trials. Originality/value The originality of this paper is to propose an improved PID rate controller with a convexity-based surrogated firefly algorithm.

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Parameters tuning of a quadrotor PID controllers by using nature-inspired algorithms

Cited by 36 publications

References 33 publications

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

An effective proportional-double derivative-linear quadratic regulator controller for quadcopter attitude and altitude control

Improved PID rate control of a quadrotor with a convexity-based surrogated model

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