PID Controller Tuning Optimization with Genetic Algorithms for a Quadcopter

A tétel rövid nézete
dc.contributor.authorKhuwaja, Komal
dc.contributor.authorLighari, Noor-u-Zaman
dc.contributor.authorTarca, Ioan Constantin
dc.contributor.authorTarca, Radu Catalin
dc.date.accessioned2020-09-11T08:33:45Z
dc.date.available2020-09-11T08:33:45Z
dc.date.issued2018-04-20
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.en
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
dc.formatapplication/pdf
dc.identifier.citationRecent Innovations in Mechatronics, Vol. 5 No. 1 (2018) , 1-7.
dc.identifier.doihttps://doi.org/10.17667/riim.2018.1/11
dc.identifier.eissn2064-9622
dc.identifier.issue1
dc.identifier.jtitleRecent Innovations in Mechatronics
dc.identifier.urihttps://hdl.handle.net/2437/295748en
dc.identifier.volume5
dc.languageen
dc.relationhttps://ojs.lib.unideb.hu/rIim/article/view/3840
dc.rights.accessOpen Access
dc.rights.ownerby the authors
dc.subjectquadcopteren
dc.subjectdynamic modelen
dc.subjectGenetic Algorithmen
dc.subjectPID controlleren
dc.subjectquadcopterhu
dc.subjectdynamic modelhu
dc.subjectGenetic Algorithmhu
dc.subjectPID controllerhu
dc.titlePID Controller Tuning Optimization with Genetic Algorithms for a Quadcopteren
dc.typefolyóiratcikkhu
dc.typearticleen
Fájlok
Eredeti köteg (ORIGINAL bundle)
Megjelenítve 1 - 1 (Összesen 1)
Nincs kép
Név:
Pdf
Méret:
838.74 KB
Formátum:
Adobe Portable Document Format
Letöltés
Gyűjtemények
Recent Innovations in Mechatronics (DE-journals)