Nonlinear Control of an Autonomous Quadrotor Unmanned Aerial Vehicle using Backstepping Controller Optimized by Particle Swarm Optimization
Quadrotor unmanned aerial vehicle (UAV) is an unstable nonlinear control system. Therefore, the development of a high performance controller for such a multi-input and multi-output (MIMO) system is important. The backstepping controller (BC) has been successfully applied to control a variety of no...
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| Format: | Article |
| Language: | English |
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Eastern Macedonia and Thrace Institute of Technology
2015-09-01
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| Series: | Journal of Engineering Science and Technology Review |
| Subjects: | |
| Online Access: | http://www.jestr.org/downloads/Volume8Issue3/fulltext8352015.pdf |
| _version_ | 1819262382052999168 |
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| author | Mohd Ariffanan Mohd Basri Abdul Rashid Husain Kumeresan A. Danapalasingam |
| author_facet | Mohd Ariffanan Mohd Basri Abdul Rashid Husain Kumeresan A. Danapalasingam |
| author_sort | Mohd Ariffanan Mohd Basri |
| collection | DOAJ |
| description | Quadrotor unmanned aerial vehicle (UAV) is an unstable nonlinear control system. Therefore, the development of a high
performance controller for such a multi-input and multi-output (MIMO) system is important. The backstepping
controller (BC) has been successfully applied to control a variety of nonlinear systems. Conventionally, control
parameters of a BC are usually chosen arbitrarily. The problems in this method are the adjustment is time demanding
and a designer can never tell exactly what are the optimal control parameters should be selected. In this paper, the
contribution is focused on an optimal control design for stabilization and trajectory tracking of a quadrotor UAV. Firstly,
a dynamic model of the aerial vehicle is mathematically formulated. Then, an optimal backstepping controller (OBC) is
proposed. The particle swarm optimization (PSO) algorithm is used to compute control parameters of the OBC. Finally,
simulation results of a highly nonlinear quadrotor system are presented to demonstrate the effectiveness of the proposed
control method. From the simulation results it is observed that the OBC tuned by PSO provides a high control
performance of an autonomous quadrotor UAV. |
| first_indexed | 2024-12-23T19:56:48Z |
| format | Article |
| id | doaj.art-fe5c65e96e6b4d7cb3db27480e91d424 |
| institution | Directory Open Access Journal |
| issn | 1791-2377 1791-2377 |
| language | English |
| last_indexed | 2024-12-23T19:56:48Z |
| publishDate | 2015-09-01 |
| publisher | Eastern Macedonia and Thrace Institute of Technology |
| record_format | Article |
| series | Journal of Engineering Science and Technology Review |
| spelling | doaj.art-fe5c65e96e6b4d7cb3db27480e91d4242022-12-21T17:33:13ZengEastern Macedonia and Thrace Institute of TechnologyJournal of Engineering Science and Technology Review1791-23771791-23772015-09-01833945Nonlinear Control of an Autonomous Quadrotor Unmanned Aerial Vehicle using Backstepping Controller Optimized by Particle Swarm OptimizationMohd Ariffanan Mohd Basri0Abdul Rashid Husain1Kumeresan A. Danapalasingam2Department of Control and Mechatronics Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Johor, Malaysia. Department of Control and Mechatronics Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Johor, Malaysia. Department of Control and Mechatronics Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, 81310 Skudai, Johor, Malaysia. Quadrotor unmanned aerial vehicle (UAV) is an unstable nonlinear control system. Therefore, the development of a high performance controller for such a multi-input and multi-output (MIMO) system is important. The backstepping controller (BC) has been successfully applied to control a variety of nonlinear systems. Conventionally, control parameters of a BC are usually chosen arbitrarily. The problems in this method are the adjustment is time demanding and a designer can never tell exactly what are the optimal control parameters should be selected. In this paper, the contribution is focused on an optimal control design for stabilization and trajectory tracking of a quadrotor UAV. Firstly, a dynamic model of the aerial vehicle is mathematically formulated. Then, an optimal backstepping controller (OBC) is proposed. The particle swarm optimization (PSO) algorithm is used to compute control parameters of the OBC. Finally, simulation results of a highly nonlinear quadrotor system are presented to demonstrate the effectiveness of the proposed control method. From the simulation results it is observed that the OBC tuned by PSO provides a high control performance of an autonomous quadrotor UAV.http://www.jestr.org/downloads/Volume8Issue3/fulltext8352015.pdfQuadrotor; Nonlinear control; Backstepping control; Particle swarm optimization. _______________________________________ |
| spellingShingle | Mohd Ariffanan Mohd Basri Abdul Rashid Husain Kumeresan A. Danapalasingam Nonlinear Control of an Autonomous Quadrotor Unmanned Aerial Vehicle using Backstepping Controller Optimized by Particle Swarm Optimization Journal of Engineering Science and Technology Review Quadrotor; Nonlinear control; Backstepping control; Particle swarm optimization. _______________________________________ |
| title | Nonlinear Control of an Autonomous Quadrotor Unmanned Aerial Vehicle using Backstepping Controller Optimized by Particle Swarm Optimization |
| title_full | Nonlinear Control of an Autonomous Quadrotor Unmanned Aerial Vehicle using Backstepping Controller Optimized by Particle Swarm Optimization |
| title_fullStr | Nonlinear Control of an Autonomous Quadrotor Unmanned Aerial Vehicle using Backstepping Controller Optimized by Particle Swarm Optimization |
| title_full_unstemmed | Nonlinear Control of an Autonomous Quadrotor Unmanned Aerial Vehicle using Backstepping Controller Optimized by Particle Swarm Optimization |
| title_short | Nonlinear Control of an Autonomous Quadrotor Unmanned Aerial Vehicle using Backstepping Controller Optimized by Particle Swarm Optimization |
| title_sort | nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization |
| topic | Quadrotor; Nonlinear control; Backstepping control; Particle swarm optimization. _______________________________________ |
| url | http://www.jestr.org/downloads/Volume8Issue3/fulltext8352015.pdf |
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