COMPARISON OF BACK STEPPING OPTIMIZED VIA PSO ALGORITHM AND LQR CONTROLLERS FOR A QUADROTOR

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PARHIZKAR NILOOFAR; NAGHASH ABOLGHASEM

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Journal: Modares Mechanical Engineering Year:2017 | Volume:17 | Issue:7 Page(s): 413-420

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Title

COMPARISON OF BACK STEPPING OPTIMIZED VIA PSO ALGORITHM AND LQR CONTROLLERS FOR A QUADROTOR

Author(s)

PARHIZKAR NILOOFAR | NAGHASH ABOLGHASEM | Issue Writer Certificate

Keywords

BACK STEPPINGQ1

LQRQ1

PSO ALGORITHMQ1

COST FUNCTIONQ2

OPTIMIZATIONQ2

Abstract

Comparison of BACK STEPPING method optimized via particle swarm OPTIMIZATION algorithm and LQR method for hovering control of a quadrotor is presented in this paper. Quadrotor is not a stable dynamical system and development of high performance controllers for it is important. First the dynamic model of a quadrotor is introduced and state-space equations are presented in order to simulate the dynamic model. Then two BACK STEPPING and LQR controllers are designed to control Euler angles and height of the quadrotor. In order to optimize BACK STEPPING controller, its parameters are determined using particle swarm OPTIMIZATION algorithm to minimize COST FUNCTION considered for LQR controller.Also, commands to the motors are calculated and plotted to show the feasibility of the controller. To obtain better comparison, the COST FUNCTION is calculated for different weighting matrices ofQ and R for two controllers and the results are compared. The results show that BACK STEPPING controller has more ability to minimize the COST FUNCTION in comparison to LQR and the COST FUNCTION in BACK STEPPING has fewer values for several choices of weighting matrices.

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APA: Copy

PARHIZKAR, NILOOFAR, & NAGHASH, ABOLGHASEM. (2017). COMPARISON OF BACK STEPPING OPTIMIZED VIA PSO ALGORITHM AND LQR CONTROLLERS FOR A QUADROTOR. MODARES MECHANICAL ENGINEERING, 17(7 ), 413-420. SID. https://sid.ir/paper/179352/en

Vancouver: Copy

PARHIZKAR NILOOFAR, NAGHASH ABOLGHASEM. COMPARISON OF BACK STEPPING OPTIMIZED VIA PSO ALGORITHM AND LQR CONTROLLERS FOR A QUADROTOR. MODARES MECHANICAL ENGINEERING[Internet]. 2017;17(7 ):413-420. Available from: https://sid.ir/paper/179352/en

IEEE: Copy

NILOOFAR PARHIZKAR, and ABOLGHASEM NAGHASH, “COMPARISON OF BACK STEPPING OPTIMIZED VIA PSO ALGORITHM AND LQR CONTROLLERS FOR A QUADROTOR,” MODARES MECHANICAL ENGINEERING, vol. 17, no. 7 , pp. 413–420, 2017, [Online]. Available: https://sid.ir/paper/179352/en

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