Optimal Controller Design for Quadrotor by Genetic Algorithm with the Aim of Optimizing the Response and Control Input signals

Abbas ABDOLLAHİ; Ahmad FORUZAN TABAR; Hamed KHODADADİ

Makale detayları

Optimal Controller Design for Quadrotor by Genetic Algorithm with the Aim of Optimizing the Response and Control Input signals

Yazarlar:

Abbas ABDOLLAHİ | Ahmad FORUZAN TABAR | Hamed KHODADADİ

Yayıncı:

Sivas Cumhuriyet Üniversitesi

Dergi:

Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi 2015 Vol.36 Issue 3, pp.135-147

Belge Tipi:

Makale

Yayın Tarihi:

5/2015

Belge Dili:

Türkçe

Document ID (Org No.):

2000921249

Sıklık:

Üç Aylık

eISSN:

2587-246X

pISSN:

2587-2680

Özet:

 

Abstract. This paper presents an optimal approach to control, stabilization and providing Tracking performance of attitude subsystem of quadrotor. The controller structure is based on Proportional- Integral Derivative (PID) control and Genetic Algorithm method is used to tune parameters of PID controller optimally. SISO approach is implemented for control structure to achieve desired objectives (second order linear Transfer Function is used to form  states). The performance of the designed control structure is evaluated through time domain factors such as overshoot, rise time, settling time and steady state error index, and control input signal optimality. The cost function for Genetic Algorithm implementation includes both output response criterions and Magnitude of input control signal. The effectiveness of the proposed method is confirmed with simulation results for square and sinuous reference inputs. Finally, simulation results at the end, demonstrates the excellent and optimal performance for our designed controller.

Makale detayları

Optimal Controller Design for Quadrotor by Genetic Algorithm with the Aim of Optimizing the Response and Control Input signals

Yazarlar: Abbas ABDOLLAHİ | Ahmad FORUZAN TABAR | Hamed KHODADADİ

Yayıncı: Sivas Cumhuriyet Üniversitesi

Dergi: Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi 2015 Vol.36 Issue 3, pp.135-147

Belge Tipi: Makale

Yayın Tarihi: 5/2015

Belge Dili: Türkçe

Document ID (Org No.): 2000921249

Sıklık: Üç Aylık

eISSN: 2587-246X

pISSN: 2587-2680

Sayı

Yazarlar:

Abbas ABDOLLAHİ | Ahmad FORUZAN TABAR | Hamed KHODADADİ

Yayıncı:

Sivas Cumhuriyet Üniversitesi

Dergi:

Cumhuriyet Üniversitesi Fen Edebiyat Fakültesi Fen Bilimleri Dergisi 2015 Vol.36 Issue 3, pp.135-147

Belge Tipi:

Makale

Yayın Tarihi:

5/2015

Belge Dili:

Türkçe

Document ID (Org No.):

2000921249

Sıklık:

Üç Aylık

eISSN:

2587-246X

pISSN:

2587-2680