Title :
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
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;
Conference_Titel :
Industrial Electronics (ISIE), 2014 IEEE 23rd International Symposium on
Conference_Location :
Istanbul
DOI :
10.1109/ISIE.2014.6864613
