Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning
This paper presents the utilization of robust nonlinear control schemes for a single-rotor unmanned aerial vehicle (SR-UAV) mathematical model. The nonlinear dynamics of the vehicle are modeled according to the translational and rotational motions. The general structure is based on a translation con...
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| Format: | ARTÍCULO |
| Language: | es_ES |
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2024
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| Online Access: | http://dspace.ucuenca.edu.ec/handle/123456789/44271 https://www.scopus.com/record/display.uri?eid=2-s2.0-85172478693&origin=resultslist&sort=plf-f&src=s&sid=65eaa7d456f0b9973743678472cd907b&sot=b&sdt=b&s=TITLE-ABS-KEY%28Robust+Nonlinear+Trajectory+Controllers+for+a+Single-Rotor+UAV+with+Particle+Swarm+Optimization+Tuning%29&sl=117&sessionSearchId=65eaa7d456f0b9973743678472cd907b&relpos=0 |
| _version_ | 1795386280128806912 |
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| author | Minchala Avila, Luis Ismael |
| author_facet | Minchala Avila, Luis Ismael |
| author_sort | Minchala Avila, Luis Ismael |
| collection | DSpace |
| description | This paper presents the utilization of robust nonlinear control schemes for a single-rotor unmanned aerial vehicle (SR-UAV) mathematical model. The nonlinear dynamics of the vehicle are modeled according to the translational and rotational motions. The general structure is based on a translation controller connected in cascade with a P-PI attitude controller. Three different control approaches (classical PID, Super Twisting, and Adaptive Sliding Mode) are compared for the translation control. The parameters of such controllers are hard to tune by using a trial-and-error procedure, so we use an automated tuning procedure based on the Particle Swarm Optimization (PSO) method. The controllers were simulated in scenarios with wind gust disturbances, and a performance comparison was made between the different controllers with and without optimized gains. The results show a significant improvement in the performance of the PSO-tuned controllers. |
| format | ARTÍCULO |
| id | oai:dspace.ucuenca.edu.ec:123456789-44271 |
| institution | Universidad de Cuenca |
| language | es_ES |
| publishDate | 2024 |
| record_format | dspace |
| spelling | oai:dspace.ucuenca.edu.ec:123456789-442712024-03-12T21:03:50Z Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning Minchala Avila, Luis Ismael Particle swarm optimization Tuning Robust control Single-rotor unmanned aerial vehicle This paper presents the utilization of robust nonlinear control schemes for a single-rotor unmanned aerial vehicle (SR-UAV) mathematical model. The nonlinear dynamics of the vehicle are modeled according to the translational and rotational motions. The general structure is based on a translation controller connected in cascade with a P-PI attitude controller. Three different control approaches (classical PID, Super Twisting, and Adaptive Sliding Mode) are compared for the translation control. The parameters of such controllers are hard to tune by using a trial-and-error procedure, so we use an automated tuning procedure based on the Particle Swarm Optimization (PSO) method. The controllers were simulated in scenarios with wind gust disturbances, and a performance comparison was made between the different controllers with and without optimized gains. The results show a significant improvement in the performance of the PSO-tuned controllers. 2024-03-12T21:03:43Z 2024-03-12T21:03:43Z 2023 ARTÍCULO 2075-1702 http://dspace.ucuenca.edu.ec/handle/123456789/44271 https://www.scopus.com/record/display.uri?eid=2-s2.0-85172478693&origin=resultslist&sort=plf-f&src=s&sid=65eaa7d456f0b9973743678472cd907b&sot=b&sdt=b&s=TITLE-ABS-KEY%28Robust+Nonlinear+Trajectory+Controllers+for+a+Single-Rotor+UAV+with+Particle+Swarm+Optimization+Tuning%29&sl=117&sessionSearchId=65eaa7d456f0b9973743678472cd907b&relpos=0 10.3390/machines11090870 es_ES application/pdf Machines |
| spellingShingle | Particle swarm optimization Tuning Robust control Single-rotor unmanned aerial vehicle Minchala Avila, Luis Ismael Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning |
| title | Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning |
| title_full | Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning |
| title_fullStr | Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning |
| title_full_unstemmed | Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning |
| title_short | Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning |
| title_sort | robust nonlinear trajectory controllers for a single-rotor uav with particle swarm optimization tuning |
| topic | Particle swarm optimization Tuning Robust control Single-rotor unmanned aerial vehicle |
| url | http://dspace.ucuenca.edu.ec/handle/123456789/44271 https://www.scopus.com/record/display.uri?eid=2-s2.0-85172478693&origin=resultslist&sort=plf-f&src=s&sid=65eaa7d456f0b9973743678472cd907b&sot=b&sdt=b&s=TITLE-ABS-KEY%28Robust+Nonlinear+Trajectory+Controllers+for+a+Single-Rotor+UAV+with+Particle+Swarm+Optimization+Tuning%29&sl=117&sessionSearchId=65eaa7d456f0b9973743678472cd907b&relpos=0 |
| work_keys_str_mv | AT minchalaavilaluisismael robustnonlineartrajectorycontrollersforasinglerotoruavwithparticleswarmoptimizationtuning |