A modified genetic algorithm for UAV trajectory tracking control laws optimization

Abstract

Purpose – The purpose of this paper is to gain trajectory-tracking controllers for autonomous aircraft are optimized using a modified evolutionary, or genetic algorithm (GA). Design/methodology/approach – The GA design utilizes real representation for the individual consisting of the collection of all controller gains subject to tuning. The initial population is generated randomly over pre-specified ranges. Alternatively, initial individuals are produced as random variations from a heuristically tuned set of gains to increase convergence time. A two-point crossover mechanism and a probabilistic mutation mechanism represent the genetic alterations performed on the population. The environment is represented by a performance index (PI) composed of a set of metrics based on tracking error and control activity in response to a commanded trajectory. Roulette-wheel selection with elitist strategy are implemented. A PI normalization scheme is also implemented to increase the speed of convergence. A flexible control laws design environment is developed, which can be used to easily optimize the gains for a variety of unmanned aerial vehicle (UAV) control laws architectures. Findings – The performance of the aircraft trajectory-tracking controllers was shown to improve significantly through the GA optimization. Additionally, the novel normalization modification was shown to encourage more rapid convergence to an optimal solution. Research limitations/implications – The GA paradigm shows much promise in the optimization of highly non-linear aircraft trajectory-tracking controllers. The proposed optimization tool facilitates the investigation of novel control architectures regardless of complexity and dimensionality. Practical implications – The addition of the evolutionary optimization to the WVU UAV simulation environment enhances significantly its capabilities for autonomous flight algorithm development, testing, and evaluation. The normalization methodology proposed in this paper has been shown to appreciably speed up the convergence of GAs. Originality/value – The paper provides a flexible generalized framework for UAV control system evolutionary optimization. It includes specific novel structural elements and mechanisms for improved convergence as well as a comprehensive PI for trajectory tracking.

New Trajectory Tracking Approach for a Quadcopter Using Genetic Algorithm and Reference Model Methods

“…k p j , k i j , and k d j are the proportional, integral, and derivative gains, respectively, with j = φ, θ, ψ, z. The characteristic polynomials of the controlled systems are represented by Equations (20) and (21) and D z (s) in Equations (18) and (19). The obtained parameters are summarized in Table 3.…”

“…Moreover, in [19], a trajectory tracking control law optimization using a modified genetic algorithm (GA) for an autonomous aircraft vehicle was proposed. Additionally, genetic algorithm techniques were used in [20] to optimize PID controllers for a quadcopter attitude stabilization.…”

Combined of Lyapunov-stable and active disturbance rejection control for the path following of a small unmanned aerial vehicle

“…The genetic algorithm has also been used to optimize the control parameters of the trajectory tracking control law which will improve the tracking performance. 11 However, it needs more calculation, which makes it limited to be applied on the low-cost autopilot. In the study of Ratnoo et al, 12 the LQR with an adaptive running cost was applied to generate the lateral acceleration command to guide the vehicle toward the path.…”

Planar Smooth Path Guidance Law for a Small Unmanned Aerial Vehicle with Parameter Tuned by Fuzzy Logic

“…However, the PID controller has little robustness to the disturbance, and it is mostly used in the lateral/longitudinal maneuvers by reducing the lateral deviation from a desired flight path. The genetic algorithm has also been used to optimize the control parameters of the trajectory tracking control law which will improve the tracking performance [4]. But it needs more calculation which makes it limited to be applied on the low-cost autopilot.…”