Abstract
Leveraging the benefits of the multiobjective particle swarm optimization (PSO) technique, we introduce a new concept of adaptive strictly negative imaginary (SNI) controllers. The proposed adaptive control systems are specifically designed to minimize a certain performance index, representing the objective of our control design, which is to obtain a stable, robust, and responsive 3-D tracking of the AR.Drone drone in the face of wind gusts. We compare the performance of our proposed adaptive controllers with respect to the performance of PSO-PID control systems and the traditional Ziegler-Nichols PID controllers, not only in simulated flights but also in real flight tests. We also present a stability analysis of the closed-loop control system using the SNI system theory.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IEEE Transactions on Aerospace and Electronic Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
