Genetic Algorithm Based on Analytic Hierarchy Process PID Parameter Tuning of UAV Control System

DOI

10.2991/ameii-16.2016.250How to use a DOI?

Keywords

Quad-copters, AHP Genetic Algorithms, ID tuning, Multi-objective optimization

Abstract

The control problems of quad-rotor flight such as under-actuated control, strong coupling were analyzed. With a simplified dynamic model of quad-rotor based on Newton - Euler equation, a double-loop PID controller which consists of the inner attitude control and out position control. According to the requirements such as static characteristics, dynamic performance and reliability, the system is divided into the system layer, subsystem layer and parameters layer. Aiming the multi-objective optimization index, the method of analytic hierarchy genetic algorithm was used for PID parameters determining. Then outdoor flight experiments were conducted with the controller and parameters obtained. The experimental results show that the aircraft can meet the engineering accuracy requirement of an outdoor flight.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Miao-lei He
AU  - Jilin He
AU  - Xiaole Ao
PY  - 2016/04
DA  - 2016/04
TI  - Genetic Algorithm Based on Analytic Hierarchy Process PID Parameter Tuning of UAV Control System
BT  - Proceedings of the 2nd International Conference on Advances in Mechanical Engineering and Industrial Informatics (AMEII 2016)
PB  - Atlantis Press
SN  - 2352-5401
UR  - https://doi.org/10.2991/ameii-16.2016.250
DO  - 10.2991/ameii-16.2016.250
ID  - He2016/04
ER  -