Aerospace Knowledge and Technology Journal

Aerospace Knowledge and Technology Journal

Attitude and position controller design of quadrotor based on evolutionary optimization and fuzzy for trajectory tracking

Document Type : Research Paper

Authors
Alireza Ahangarani Farahani 1
Hamed Arefkhani 1
Sayyed Majed Hosseini 2
Hossein Sadati 3
1 Assistant Professor, Faculty of Aerospace, Malek Ashtar University of Technology, Iran.
2 Assistant Professor, Faculty of Aerospace, Malek Ashtar University of Technology, Iran
3 Professor, Faculty of Aerospace, Malek Ashtar University of Technology, Iran.
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
Quadrotor
Nonlinear Control
Trajectory Tracking
Fuzzy Control
Genetic Algorithm
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Aerospace Knowledge and Technology Journal
Volume 13, Issue 1
September 2024
Pages 185-198