PID Controller Tuning Optimization with Genetic Algorithms for a Quadcopter

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dc.contributor.authorKhuwaja, Komal
dc.contributor.authorTarca, Ioan Constantin
dc.contributor.authorLighari, Noor-u-Zaman
dc.contributor.authorTarca, Radu Catalin
dc.date.accessioned2018-04-19T13:33:48Z
dc.date.available2018-04-19T13:33:48Z
dc.date.issued2018-04-06
dc.description.abstractThis paper is focused on the dynamic of mathematical modeling, stability, nonlinear gain control by using Genetic algorithm, utilizing MATLAB tool of a quadcopter. Previously many researchers have been work on several linear controllers such as LQ method; sliding mode and classical PID are used to stabilize the Linear Model. Quadcopter has a nonlinear dynamics and unstable system. In order to maintain their stability, we use nonlinear gain controllers; classical PID controller provides linear gain controller rather than nonlinear gain controller; here we are using modified PID control to improve stability and accuracy. The stability is the state of being resistant to any change. The task is to maintain the quadcopter stability by improving the performance of a PID controller in term of time domain specification. The goal of PID controller design is to determine a set of gains: Kp, Ki, and Kd, so as to improve the transient response and steady state response of a system as: by reducing the overshoot; by shortening the settling time; by decrease the rise time of the system. Modified PID is the combination of classical PID in addition to Genetic Algorithm. Genetic algorithm consists of three steps: selection, crossover, and mutation. By using Genetic algorithm we correct the behavior of quadcopter.hu_HU
dc.identifier.doi10.17667/riim.2018.1/11hu_HU
dc.identifier.issn2064-9622hu_HU
dc.identifier.issue1hu_HU
dc.identifier.urihttp://hdl.handle.net/2437/249832
dc.identifier.volume5hu_HU
dc.language.isoenhu_HU
dc.publisherDUPresshu_HU
dc.publisher.placeDebrecenhu_HU
dc.subjectquadcopterhu_HU
dc.subjectdynamic modelhu_HU
dc.subjectGenetic Algorithmhu_HU
dc.subjectPID controllerhu_HU
dc.titlePID Controller Tuning Optimization with Genetic Algorithms for a Quadcopterhu_HU
dc.typeArticlehu_HU
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