Parameter Tuning for Quad-rotor PID Control System Based on Optimal Latin Hypercube and PSO Algorithm

DOI

10.2991/icmemtc-16.2016.287How to use a DOI?

Keywords

Opt LHD; PSO; Quad-rotor; PID

Abstract

Based on Optimal Latin Hypercube Design (Opt LHD) method and Particle Swarm Optimization (PSO) algorithm, this article presents a method for tuning PID control parameters of quad-rotor. Firstly, the range of 15 PID parameters are obtained by experience. Within the range of the PID parameters, Opt LHD method is applied to get few but evenly distributed test point groups, thus the adjustment work is reduced. Then, experiments for these PID test point groups are conducted and test results are used to establish response surface model (RSM). Finally, optimal PID parameter combinations are solved based on PSO Algorithm in this RSM. This method solves the following problems: 1. large quantity of aimlessly repetitive tuning work; 2. getting global optimum PID parameters combinations with personal experience. The final experiment results have been applied to quadrotor and the validity of this method is proved.

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  - Muhao Chen
AU  - Chen Gong
AU  - Xiaolong Bai
AU  - Peilu Si
PY  - 2016/04
DA  - 2016/04
TI  - Parameter Tuning for Quad-rotor PID Control System Based on Optimal Latin Hypercube and PSO Algorithm
BT  - Proceedings of the 2016 3rd International Conference on Materials Engineering, Manufacturing Technology and Control
PB  - Atlantis Press
SP  - 1487
EP  - 1492
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmemtc-16.2016.287
DO  - 10.2991/icmemtc-16.2016.287
ID  - Chen2016/04
ER  -