Optimal Robust Model-Free Control for Altitude of a Mini-Drone Using PSO Algorithm
| Autor: | Hossam Eddine Glida, Latifa Abdou, Chouki Sentouh, Gabriele Perozzi, Abdelghani Chelihi |
|---|---|
| Přispěvatelé: | Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201 (LAMIH), Centre National de la Recherche Scientifique (CNRS)-Université Polytechnique Hauts-de-France (UPHF)-INSA Institut National des Sciences Appliquées Hauts-de-France (INSA Hauts-De-France) |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Optimization problem Computer science Particle swarm optimization 02 engineering and technology Model free Drone [SPI.AUTO]Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation Control theory Robustness (computer science) 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Time domain |
| Zdroj: | Lecture Notes in Electrical Engineering ISBN: 9789811562587 2nd International Conference on Electronic Engineering and Renewable Energy (ICEERE'2020) 2nd International Conference on Electronic Engineering and Renewable Energy (ICEERE'2020), Apr 2020, Saidia, Morocco. pp.451-459 |
| DOI: | 10.1007/978-981-15-6259-4_48 |
| Popis: | International audience; This paper presents a model-free controller based on particle swarm optimization algorithm (PSO-MFC) for the altitude systems of a Mini-Drone. A model-free control (MFC) is applied to improve both trajectory tracking and robustness of quadrotor in the presence of external uncertainties and disturbance. The problem of Tuning MFC parameters designed is formulated as an optimization problem according to time domain objective function that is solved by PSO algorithm to find the most optimistic results. In order to prove the robustness of the proposed algorithm, an extensive set of numerical results are presented using a real Simulink Template for Parrot Mini-Drone platform. Results evaluation show that the proposed control scheme achieves good performance for altitude system compared to the controller without optimization. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|