MATEC Web Conf.
Volume 99, 20172016 Workshop on Contemporary Materials and Technologies in the Aviation Industry (CMTAI2016)
|Number of page(s)||5|
|Section||Guidance, Navigation and Control|
|Published online||08 February 2017|
Optimal Stabilization of A Quadrotor UAV by a Constrained Fuzzy Control and PSO
University MSBY of Jijel, LAJ-Laboratoire d’Automatique de Jijel, B.P. 98 Ouled Aïssa 180000 Jijel, Alegria
* Corresponding author: email@example.com
This work aims to design an optimal fuzzy PD (FPD) control for the attitude and altitude stabilization of a quadrotor. The control design is done by mean of the particle swarm optimization (PSO) under the constraints of the controller interpretability and the saturation of the actuators. Concretely, a decentralized control structure is adopted where four FPD controllers are used to stabilize the quadrotor angles (roll, pitch and yaw) and height. A PSO-based algorithm is used to simultaneously tune the four constrained controllers regarding a cost function quantifying the whole system performances. The simulation results are presented to show the efficiency of the proposed approach.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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