Although there are classical methods for designing a feedback controller, modern techniques make use of the power of multi objective optimization algorithms. In this paper, we propose a novel evolutionary feedback controller (EFC) for altitude and attitude tracking of a quadrotor helicopter unmanned aerial vehicle (UAV). In particular, an improved genetic algorithm is used to adapt the coefficients of the feedback control gains. Contrary to classical approaches in control theory, the EFC methodology can be used in both nonlinear and linear systems. Furthermore, an inertial navigation system (INS) and global positioning system (GPS) are embedded in the UAV to provide inputs to the controller.
Altitude and attitude tracking of a quadrotor helicopter UAV using a novel evolutionary feedback controller
Tonello A. M.
2017-01-01
Abstract
Although there are classical methods for designing a feedback controller, modern techniques make use of the power of multi objective optimization algorithms. In this paper, we propose a novel evolutionary feedback controller (EFC) for altitude and attitude tracking of a quadrotor helicopter unmanned aerial vehicle (UAV). In particular, an improved genetic algorithm is used to adapt the coefficients of the feedback control gains. Contrary to classical approaches in control theory, the EFC methodology can be used in both nonlinear and linear systems. Furthermore, an inertial navigation system (INS) and global positioning system (GPS) are embedded in the UAV to provide inputs to the controller.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
