Auto-Tuning for High Performance Autopilot Design Using Robust Inverse Dynamics Estimation

Counsell, John; Zaher, Obadah Samir; Brindley, J.

doi:10.1109/iccgi.2010.38

Cited by 2 publications

(2 citation statements)

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“…A revised formulation of the same methodology is presented in [32], which relies on a combination of different performance metrics such as integral square error (ISE), integral time square error (ITSE), integral time absolute error (ITAE), and mean square error (MSE), to determine the optimal tuning of a controller for chemical processes. As for applications in the aerospace field, a method utilizing GA to automate the tuning process is proposed in [33] for the parameters of the Robust Inverse Dynamics Estimation (RIDE) controller of an F-18/HARV aircraft model. An improved GA, intended to overcome some shortcomings of the methodology such as premature or local convergence, and low search efficiency, is presented in Ref.…”

Section: Introductionmentioning

confidence: 99%

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Optimization of UAV Robust Control Using Genetic Algorithm

D’antuono,

De Matteis,

Trotta

et al. 2023

IEEE Access

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A hybrid methodology combining the use of a robust LQR servomechanism and a genetic algorithm for the design of the flight control system (FCS) of a light unmanned aerial vehicle is the subject of this paper. The objective is to develop a systematic design approach based on a proven technique that provides improved time response and robust steady-state performance of the control system, so as to reduce the burden of trial-and-error procedures. The design of the FCS is formulated as an optimization problem aimed at maximizing a weighted sum of an appropriately defined multi-objective fitness function and evaluated through a series of nonlinear simulations, so as to fully engage the control system in complex maneuvers, such as combined changes in altitude and heading at different flight speeds. The performance of the proposed control design approach is evaluated using analytical tools for linear systems, softwarein-the-loop simulations, and Monte Carlo campaigns. The comparison between the new controller and a classical FCS with internal PID loops on attitude angles for stability and control augmentation is analyzed and discussed using an accurate vehicle model with an extended Kalman filter for output reconstruction.

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Section: Introductionmentioning

confidence: 99%

“…In Ref. [33] the tuning is carried out by minimizing the Euclidean norm of the difference between the response of a linearized form of the aircraft model and an ideal reference model and, apparently, the analysis is limited to a single trim point and the roll response.…”

Section: Introductionmentioning

confidence: 99%