palaceuf.blogg.se

The genetic algorithm used in this paper is one of the metaheuristic algorithms, i.e., other optimization techniques can be used for this controller like swarm intelligence methods. The proposed methodology is simple and fast and employs the genetic algorithm for tuning the control parameters. In this paper, a unique control system based on evolutionary computing is developed for asymmetric quadcopters, which are hard to be controlled using traditional methods. Roll and pitch angles are systemically calculated, and that is why it is hard to control an asymmetric quadcopter. only longitudinal, lateral, and altitude axis and yaw angle can be directly controlled. The quadcopter is an underactuated system, i.e. It is worth mentioning that the PID controller is convenient for SISO systems because these systems have a single input and single output plant, which is easier to do using a PID controller. The PID controller is the most famous controller for the speed of motors. Optimal control was formulated for a quadcopter as a constrained optimization problem. The backstepping controller is a well-known technique in control systems that has been used in many applications. Adaptive backstepping control was designed for the ball and beam system, considering parameter uncertainties. The control system looks like a brain that tells a dynamic system how to behave and react to responses. Also, feedback linearization-based control is presented, as well as model predictive control. The key point in all quadcopter applications is the sensitive nature of the flight control of the quadcopter, which is expressed by many control techniques like Lyapunov-based control for indoor micro-quadcopter and combinations of PID-based control. The symmetric structure of the quadcopter has many advantages for different applications like aerospace fields, military security systems, critical monitoring, and mineral exploration. The symmetry of the quadcopter is crucial because the control of the quadcopter depends on rotor speed and lift force variation. The quadcopter is one of the autonomous robot types that do not need a supporting surface it contains four symmetric rotors.