Multi-Objective Design Optimization of a Hexa-Rotor With Disturbance Rejection Capability Using an Evolutionary Algorithm

In this paper, a methodology to design a hexa-rotor with the capability to reject disturbances using tilted propellers is presented. The methodology proposes the use of a robustness index as a measurement of the capability to reject external disturbances. Moreover, an energy index is proposed as a measurement of the energy consumed by the hexa-rotor in hovering. It is shown that the robustness index is opposed to this energy index. Therefore, a multi-objective optimization problem is proposed in which the objective functions are the robustness index and the energy index. This problem is solved with the help of an evolutionary algorithm with a Pareto approach. Three solutions are selected from the Pareto front and tested with a proposed controller in order to show the feasibility of the methodology. Finally, the design that has a better tradeoff between the two objectives is simulated with Gaussian noise and with the maximum disturbance that is capable of rejecting.