Optimal Robust Model-Free Control for Altitude of a Mini-Drone Using PSO Algorithm

Glida, Hossam Eddine; Abdou, Latifa; Chelihi, Abdelghani; Sentouh, Chouki; Perozzi, Gabriele

doi:10.1007/978-981-15-6259-4_48

Cited by 1 publication

(1 citation statement)

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“…The gains of the multirotor attitude fuzzy controller have been evaluated using PSO algorithm by Chiou et al 13 The same algorithm has been exploited in the works. [14][15][16] In the paper, 17 the authors did not consider in the control loop the inertia variation of a reconfigurable small UAV due to the control architecture complexity. In the work, 18 a new design of variable shape multirotors was proposed.…”

Section: Related Workmentioning

confidence: 99%

Adaptive integral backstepping control of a reconfigurable quadrotor with variable parameters’ estimation

Derrouaoui

Bouzid

Guiatni

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This work presents the control of a quadrotor capable of changing its configuration while flying. The designed controller should handle several arising issues since the drone geometric parameters are varying over time. This variation has a great influence on the quadrotor control, which prompts us to propose an efficient nonlinear adaptive integral backstepping controller. The control architecture includes an estimator of the inertia and other specific blocks to calculate the center of gravity and the mixing matrix. The performance of the proposed control approach has been compared with the conventional integral backstepping controller in two cases, with and without disturbances. The obtained results of the inertias and the center of gravity are also compared and confirmed with those calculated using Computer-Assisted Design–based model.

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