Decentralized PID Control by Using GA Optimization Applied to a Quadrotor

Abstract

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.

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

“…Thus, obtaining the mathematical model is considered a difficult task [15], [26]- [28]. In this section, the detailed mathematical model of a quadcopter system was derived based on the work done in [29], [30].…”

“…Therefore, by substitution into equation ( 23), the rotational equations of motion are given by [29]:…”

“…Many research works employed the conventional PID controller to stabilize the quadcopter system, individually or in combination with other sub-control units to improve its capability in different operating conditions. PID gains can be adjusted using TEM [69], a look-up table such as Ziegler-Nichols (ZN) [28], or any optimization technique including the GA [19], [29], [70], and PSO [71]- [73]. 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.…”

Study on the Sensitivity of a Gyroscope System Homing a Quadcopter onto a Moving Ground Target under the Action of External Disturbance

“…Previous studies on the dynamics of unmanned aerial vehicles, including a quadcopter, indicated that external disturbance acting on them led to significant errors in the tracking, laser illumination and homing onto both a moving and stationary target [3,4]. In particular, the control system onboard the aforementioned aerial vehicles, did not provide sufficient resistance to vibrations [5][6][7]. A head with controlled gyroscope (its drive) parameters selected optimally for homing precision, should be chosen in order to minimize the aforementioned error.…”

Dynamics and Control of the Gyroscopic Head used for the Laser Illumination of a Ground Target from the Quadcopter Deck

“…To ensure the high precision in maintaining the T-LOS in a given position, an optimal controller was designed for the GH. For this reason, despite many control methods used for the unmanned aerial vehicle, known in the literature [9][10][11] a simple PID controller was used to control the flight of the QCUAV, since the drone movement in space does not have to be precisely determined [12][13][14][15][16]. Simplified operation diagram of the system of detection, tracking and laser pointing of a target from the QCUAV deck is shown in Figure 1.…”