Open AccessDesign and optimization of backstepping controller applied to autonomous quadrotor
Author(s) -
Mina Qays Kadhim,
Mohammed Y. Hassan
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/881/1/012128
Subject(s) - control theory (sociology) , backstepping , robustness (evolution) , particle swarm optimization , nonlinear system , computer science , lyapunov function , lyapunov stability , position (finance) , pid controller , control engineering , engineering , adaptive control , control (management) , physics , artificial intelligence , temperature control , biochemistry , chemistry , finance , quantum mechanics , machine learning , economics , gene
In this paper a Quadrotor dynamics is exploited. This system dynamics is nonlinear, multivariable, coupled and unstable, and suffers from parameter uncertainties and external disturbances. Hence, controlling of Quadrotor is on demand to meet the stability, robustness, and desired dynamic properties, furthermore, to overcome the hindrance of nonlinearity and to have a system that is pliant to changing parameters and environmental disturbances. Three PID position controllers are used in the outer feedback loop to track the reference trajectory, while the angular rotations are controlled through the inner feedback backstepping control. The control law is derived based on Lyapunov stability theorem to render strong closed-loop stability. The tuning of the gains for both controllers is not convenient with this kind of system model due to high non-linearity and instability. Thereafter, the gains and parameters referred to both controllers are optimized using Particle Swarm Optimization algorithm (PSO) to find the best navigation routes and ensure compensation of nonlinearities and disturbances. This is performed by minimizing the 3 Dimensional position errors and 3Angular rotation errors using ITAE as a performance index. Simulation results presented using different types of trajectories have proved the enhancement in motion as compared with previous published papers.