Purpose

This study aims to develop a quadrotor with a robust control system against weight variations. A Proportional-Integral-Derivative (PID) controller based on Particle Swarm Optimization and Differential Evaluation to tune the parameters of PID has been implemented with real-time simulations of the quadrotor.

Design/methodology/approach

The optimization algorithms are combined with the PID control mechanism of the quadrotor to increase the performance of the trajectory tracking for a quadrotor. The dynamical model of the quadrotor is derived by using Newton-Euler equations.

Findings

In this study, the most efficient control parameters of the quadrotor are selected using evolutionary optimization algorithms in real-time simulations. The control parameters of PID directly affect the controller’s performance that position error and stability improved by tuning the parameters. Therefore, the optimization algorithms can be used to improve the trajectory tracking performance of the quadrotor.

Practical implications

The online optimization result showed that evolutionary algorithms improve the performance of the trajectory tracking of the quadrotor.

Originality/value

This study states the design of an optimized controller compared with manually tuned controller methods. Fitness functions are defined as a custom fitness function (overshoot, rise-time, settling-time and steady-state error), mean-square-error, root-mean-square-error and sum-square-error. In addition, all the simulations are performed based on a realistic simulation environment. Furthermore, the optimization process of the parameters is implemented in real-time that the proposed controller searches better parameters with real-time simulations and finds the optimal parameter online.

中文翻译：

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基于四旋翼优化算法的PID控制器实时整定

目的

本研究旨在开发一种四旋翼飞行器，该四旋翼飞行器具有强大的控制系统以防止重量变化。基于粒子群优化和微分评估的比例-积分-微分 (PID) 控制器通过四旋翼的实时仿真来调整 PID 的参数。

设计/方法/方法

优化算法与四旋翼的 PID 控制机制相结合，以提高四旋翼轨迹跟踪的性能。四旋翼的动力学模型是利用牛顿-欧拉方程推导出来的。

发现

在这项研究中，四旋翼最有效的控制参数是在实时模拟中使用进化优化算法选择的。PID控制参数的好坏直接影响控制器通过参数整定改善位置误差和稳定性的性能。因此，优化算法可以用来提高四旋翼的轨迹跟踪性能。

实际影响

在线优化结果表明，进化算法提高了四旋翼轨迹跟踪的性能。

原创性/价值

本研究阐述了与手动调整控制器方法相比优化控制器的设计。适应度函数定义为自定义适应度函数（过冲、上升时间、稳定时间和稳态误差）、均方误差、均方根误差和平方和误差。此外，所有的模拟都是基于真实的模拟环境进行的。此外，参数的优化过程是实时实现的，所提出的控制器通过实时仿真搜索更好的参数并在线找到最佳参数。