PSO optimization of Integral Backstepping Controller for Quadrotor attitude stabilization

Author

Yacef, Fouad ; Bouhali, Omar ; Hamerlain, Mustapha ; Rezoug, A.

Author_Institution

Productique & Robot. Lab., Center for Dev. of Adv. Technol. (CDTA), Algiers, Algeria

fYear

2013

fDate

29-31 Oct. 2013

Firstpage

462

Lastpage

466

Abstract

This paper deals with the attitude stabilization problem for an under-actuated Quadrotor UAV system. We propose the use of Particle Swarm Optimization (PSO) algorithm for tuning Integral Backstepping Controller (IBC) which is applied for the stabilization of a Quadrotor UAV model. The method is used to minimize a Square Error (SE) fitness function which quantifies the performance of the whole control system. Controller parameters are tuned respecting some nonlinear constraints for step response of the system. Numerical simulation results are given to show the validity and the good performances of the proposed method.

Keywords

attitude control; autonomous aerial vehicles; helicopters; particle swarm optimisation; stability; IBC; PSO algorithm; PSO optimization; control system; integral backstepping controller; nonlinear constraints; numerical simulation; particle swarm optimization; quadrotor UAV model; quadrotor attitude stabilization problem; square error fitness function; step response; under-actuated quadrotor UAV system; Adaptation models; Adaptive control; Numerical models; Propellers; Robustness; Rotors; TV;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems and Control (ICSC), 2013 3rd International Conference on

Conference_Location

Algiers

Print_ISBN

978-1-4799-0273-6

Type

conf

DOI

10.1109/ICoSC.2013.6750900

Filename

6750900