Attitude and position controller design of quadrotor based on evolutionary optimization and fuzzy for trajectory tracking
Author(s):
Article Type:
Research/Original Article (دارای رتبه معتبر)
Abstract:
In this paper, the guidance and control system of a quadrotor to track the trajectory is evaluated. Control algorithms have been developed with the aim of hardware implementation capability and considering the power consumption and processing limitation of quadrotor. For this purpose, a proportional–derivative controller (PD) that control coefficients are optimized by a genetic algorithm (GA) to control both the outer (position control) and inner (attitude control) loops is implemented. Due to the disturbances and uncertainties, the effect of fuzzy control replacement on the quadrotor performance in guidance and control loops has been evaluated. The simulation results show that replacing the fuzzy controller in the guidance loop improves trajectory tracking. Also, the performance of this controller for the quadrotor in the presence of disturbance and uncertainties was proved.
Keywords:
Language:
Persian
Published:
Aerospace Science and Technology Journal, Volume:13 Issue: 1, Spring-Summer 2024
Pages:
185 to 198
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