PID controller design for unmanned aerial vehicle using genetic algorithm

Author

Noshahri, Hengameh ; Kharrati, Hamed

Author_Institution

Dept. of Electr. & Comput. Eng., Univ. of Tabriz, Tabriz, Iran

fYear

2014

fDate

1-4 June 2014

Firstpage

213

Lastpage

217

Abstract

Control of unmanned aerial vehicles (UAVs) is challenging due to inherent nonlinearities and its coupled dynamics. In this paper, an improved proportional-integral-derivative (PID) controller is proposed for UAV motion control with 6 degrees of freedom (DOF). A genetic algorithm is employed to find suboptimal coefficients of PID controller to optimize performance of the closed-loop control system. Simulation results are presented to verify the effectiveness of the proposed control system and also to compare with previous works.

Keywords

aircraft control; attitude control; autonomous aerial vehicles; closed loop systems; control nonlinearities; control system synthesis; genetic algorithms; helicopters; mobile robots; motion control; robot dynamics; suboptimal control; three-term control; 6 DOF UAV motion control; PID controller design; UAV control; altitude control; attitude control; closed-loop control system; coupled dynamics; genetic algorithm; improved proportional-integral-derivative controller; inherent nonlinearities; performance optimization; quadrotor; suboptimal coefficients; unmanned aerial vehicle; Biological cells; Control systems; Equations; Genetic algorithms; Mathematical model; Propellers; Unmanned aerial vehicles; UAV- PID Controller- Genetic Algorithms;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics (ISIE), 2014 IEEE 23rd International Symposium on

Conference_Location

Istanbul

Type

conf

DOI

10.1109/ISIE.2014.6864613

Filename

6864613