Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.13087/1018
Title: Improved PID rate control of a quadrotor with a convexity-based surrogated model
Authors: Kaba, Aziz
Keywords: UAV
PID
Quadrotor
Convexity
Firefly algorithm
Surrogated model
Issue Date: 2021
Publisher: Emerald Group Publishing Ltd
Abstract: Purpose The purpose of this paper is to develop, extend and propose an improved proportional integral derivative (PID) rate control of a quadrotor unmanned aerial vehicle based on a convexity-based surrogated firefly algorithm. Design/methodology/approach An improved PID controller structure is proposed for the rate dynamics of the quadrotor. Optimality of the controller is ensured by a recent, simple yet efficient firefly optimization method. The hybrid structure is further enhanced with a convexity-based surrogated model function. Findings Monte Carlo, transient response, error metrics and histogram distribution analyzes are conducted to show the performance of the proposed controller. The performance of the proposed method is evaluated under various convex combination values to further investigate the effect of the proposed surrogated model. According to the results, the proposed method is capable of controlling the rate quadrotor dynamics with the steady-state error of 0.0023 (rad/s) for P, -0.0024 (rad/s) for Q and 0 (rad/s) for the R state, respectively. Also, the least mean objective value is achieved at = 0 value of convexity in Monte Carlo trials. Originality/value The originality of this paper is to propose an improved PID rate controller with a convexity-based surrogated firefly algorithm.
Description: International Symposium on Electric Aviation and Autonomous Systems (ISEAS) / International Symposium on Aircraft Technology, MRO and Operations (ISATECH) -- SEP 22-24, 2020 -- ELECTR NETWORK
URI: https://doi.org/10.1108/AEAT-03-2021-0093
https://hdl.handle.net/20.500.13087/1018
ISSN: 1748-8842
1758-4213
Appears in Collections:Bilgisayar Mühendisliği Bölümü Koleksiyonu
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