Tuning the parameters of a Proportional Derivative (PD) controller applied to control the trajectory of a hexacopter is a continuos and multidimensional optimization problem which can be solved using a Particle Swarm Optimization (PSO) algorithm. It is an efficient heuristic optimization technique that simulates the collective social behaviour of a biological population, such as birds flock, to find the optimal or near optimal solutions of a multivariable objective function in a continuos search space. The aim of this paper is to tune the PD controller parameters using PSO algorithm in order to minimize the hexacopter trajectory error. Performance of PSO-based approach proposed are evaluated considering the Integral Square Error (ISE) of the hexacopter trajectory as objective function. Simulation results show the effectiveness of the PD tuning using PSO-based optimization approach for a desired trajectory.

A PSO-based Approach for Tuning of PD Controller of a Hexacopter

MANISCALCO, VINCENZO
2015

Abstract

Tuning the parameters of a Proportional Derivative (PD) controller applied to control the trajectory of a hexacopter is a continuos and multidimensional optimization problem which can be solved using a Particle Swarm Optimization (PSO) algorithm. It is an efficient heuristic optimization technique that simulates the collective social behaviour of a biological population, such as birds flock, to find the optimal or near optimal solutions of a multivariable objective function in a continuos search space. The aim of this paper is to tune the PD controller parameters using PSO algorithm in order to minimize the hexacopter trajectory error. Performance of PSO-based approach proposed are evaluated considering the Integral Square Error (ISE) of the hexacopter trajectory as objective function. Simulation results show the effectiveness of the PD tuning using PSO-based optimization approach for a desired trajectory.
978-073541349-8
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11387/116557
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact