Genetic Algorithm Based on Analytic Hierarchy Process PID Parameter Tuning of UAV Control System
- 10.2991/ameii-16.2016.250How to use a DOI?
- Quad-copters, AHP Genetic Algorithms, ID tuning, Multi-objective optimization
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.
- © 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/).
Cite this article
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 -