Universiti Teknologi Malaysia Institutional Repository

Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization

Mohd. Basri, M. A. and Husain, A. R. and Danapalasingam, K. A. (2015) Nonlinear control of an autonomous quadrotor unmanned aerial vehicle using backstepping controller optimized by particle swarm optimization. Journal of Engineering Science And Technology Review, 8 (3). pp. 39-45. ISSN 1759-9660

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Official URL: http://dx.doi.org/10.25103/jestr.083.05

Abstract

Quadrotor unmanned aerial vehicle (UAV) is an unstable nonlinear control system. Therefore, the development of a high performance controller for such a multi-input and multi-output (MIMO) system is important. The backstepping controller (BC) has been successfully applied to control a variety of nonlinear systems. Conventionally, control parameters of a BC are usually chosen arbitrarily. The problems in this method are the adjustment is time demanding and a designer can never tell exactly what are the optimal control parameters should be selected. In this paper, the contribution is focused on an optimal control design for stabilization and trajectory tracking of a quadrotor UAV. Firstly, a dynamic model of the aerial vehicle is mathematically formulated. Then, an optimal backstepping controller (OBC) is proposed. The particle swarm optimization (PSO) algorithm is used to compute control parameters of the OBC. Finally, simulation results of a highly nonlinear quadrotor system are presented to demonstrate the effectiveness of the proposed control method. From the simulation results it is observed that the OBC tuned by PSO provides a high control performance of an autonomous quadrotor UAV.

Item Type:Article
Uncontrolled Keywords:backstepping control, nonlinear control, particle swarm optimization
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:Electrical Engineering
ID Code:58651
Deposited By: Haliza Zainal
Deposited On:04 Dec 2016 04:07
Last Modified:07 Oct 2021 03:19

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