Abstract
A hybrid proportional double derivative and linear quadratic regulator (PD2-LQR) controller is designed for altitude (z) and attitude (roll, pitch, and yaw) control of a quadrotor vehicle. The derivation of a mathematical model of the quadrotor is formulated based on the Newton–Euler approach. An appropriate controller’s parameter must be obtained to obtain a superior control performance. Therefore, we exploit the advantages of the nature-inspired optimization algorithm called Grey Wolf Optimizer (GWO) to search for those optimal values. Hence, an improved version of GWO called IGWO is proposed and used instead of the original one. A comparative study with the conventional controllers, namely proportional derivative (PD), proportional integral derivative (PID), linear quadratic regulator (LQR), proportional linear quadratic regulator (P-LQR), proportional derivative and linear quadratic regulator (PD-LQR), PD2-LQR, and original GWO-based PD2-LQR, was undertaken to show the effectiveness of the proposed approach. An investigation of 20 different quadcopter models using the proposed hybrid controller is presented. Simulation results prove that the IGWO-based PD2-LQR controller can better track the desired reference input with shorter rise time and settling time, lower percentage overshoot, and minimal steady-state error and root mean square error (RMSE).
Highlights
Published: 17 March 2021In recent years, interest in small unmanned aerial vehicles (UAV) of the quadrotor or quadcopter types has been increasing among researchers due to their wide range of civilian and military applications, for instance, wildfire surveillance [1], search and rescue mission, and environment monitoring [2]
We find proportional integral derivative (PID) [9,10,11], linear quadratic regulator (LQR) [12,13,14], backstepping control (BC) [15,16], sliding mode control (SMC) [6,17,18], and many more
It is worth mentioning that if we made a comparison, not as a percentage, we find that the value is minimal
Summary
Interest in small unmanned aerial vehicles (UAV) of the quadrotor or quadcopter types has been increasing among researchers due to their wide range of civilian and military applications, for instance, wildfire surveillance [1], search and rescue mission, and environment monitoring [2]. The quadrotor’s main advantages are low cost, high maneuverability, small size, simple structure, vertical take-off and landing (VTOL), stationary flight, and low-speed flight [2,3,4]. With six degrees of freedom and only controlled by four inputs, quadrotors are considered an under-actuated mechanical system that brings complexity in its position and attitude control [5,6,7]. A good position and attitude controller are crucial to designing to control and stabilize such a complex system.
Sign-in/Register to view highlights & summary 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 callDisclaimer: 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.
