Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization
Quadrotor unmanned aerial vehicle (UAV) is an unstable nonlinear control system. Therefore, the development of a high performance controller for such a multi-input and multi-output (MIMO) system is important. The backstepping controller (BC) has been successfully applied to control a variety of nonl...
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Eastern Macedonia and Thrace Institute of Technology
2015
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my.utm.586512021-10-07T03:19:14Z http://eprints.utm.my/id/eprint/58651/ Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization Mohd. Basri, M. A. Husain, A. R. Danapalasingam, K. A. TK Electrical engineering. Electronics Nuclear engineering Quadrotor unmanned aerial vehicle (UAV) is an unstable nonlinear control system. Therefore, the development of a high performance controller for such a multi-input and multi-output (MIMO) system is important. The backstepping controller (BC) has been successfully applied to control a variety of nonlinear systems. Conventionally, control parameters of a BC are usually chosen arbitrarily. The problems in this method are the adjustment is time demanding and a designer can never tell exactly what are the optimal control parameters should be selected. In this paper, the contribution is focused on an optimal control design for stabilization and trajectory tracking of a quadrotor UAV. Firstly, a dynamic model of the aerial vehicle is mathematically formulated. Then, an optimal backstepping controller (OBC) is proposed. The particle swarm optimization (PSO) algorithm is used to compute control parameters of the OBC. Finally, simulation results of a highly nonlinear quadrotor system are presented to demonstrate the effectiveness of the proposed control method. From the simulation results it is observed that the OBC tuned by PSO provides a high control performance of an autonomous quadrotor UAV. Eastern Macedonia and Thrace Institute of Technology 2015 Article PeerReviewed Mohd. Basri, M. A. and Husain, A. R. and Danapalasingam, K. A. (2015) Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization. Journal of Engineering Science And Technology Review, 8 (3). pp. 39-45. ISSN 1759-9660 http://dx.doi.org/10.25103/jestr.083.05 DOI: 10.25103/jestr.083.05 |
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TK Electrical engineering. Electronics Nuclear engineering Mohd. Basri, M. A. Husain, A. R. Danapalasingam, K. A. Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization |
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Quadrotor unmanned aerial vehicle (UAV) is an unstable nonlinear control system. Therefore, the development of a high performance controller for such a multi-input and multi-output (MIMO) system is important. The backstepping controller (BC) has been successfully applied to control a variety of nonlinear systems. Conventionally, control parameters of a BC are usually chosen arbitrarily. The problems in this method are the adjustment is time demanding and a designer can never tell exactly what are the optimal control parameters should be selected. In this paper, the contribution is focused on an optimal control design for stabilization and trajectory tracking of a quadrotor UAV. Firstly, a dynamic model of the aerial vehicle is mathematically formulated. Then, an optimal backstepping controller (OBC) is proposed. The particle swarm optimization (PSO) algorithm is used to compute control parameters of the OBC. Finally, simulation results of a highly nonlinear quadrotor system are presented to demonstrate the effectiveness of the proposed control method. From the simulation results it is observed that the OBC tuned by PSO provides a high control performance of an autonomous quadrotor UAV. |
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Article |
author |
Mohd. Basri, M. A. Husain, A. R. Danapalasingam, K. A. |
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Mohd. Basri, M. A. Husain, A. R. Danapalasingam, K. A. |
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Mohd. Basri, M. A. |
title |
Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization |
title_short |
Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization |
title_full |
Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization |
title_fullStr |
Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization |
title_full_unstemmed |
Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization |
title_sort |
nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization |
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Eastern Macedonia and Thrace Institute of Technology |
publishDate |
2015 |
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http://eprints.utm.my/id/eprint/58651/ http://dx.doi.org/10.25103/jestr.083.05 |
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1715189644797149184 |
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13.160551 |