Journal of Aeronautical Engineering

Journal of Aeronautical Engineering

Trajectory Tracking Control of Quadrotor Using State Space Feedback by Optimal Gain Tuning

Document Type : Original Article

Authors
Alireza Ahangarani Farahani 1
Jalal Karimi 2
Seyyed Hossein Sadati 2
1 - Faculty of Aerospace Engineering, Malek Ashtar University of Technology, Iran
2 Faculty of Aerospace Engineering, Malek Ashtar University of Technology, Iran.
10.22034/joae.2020.136232
Abstract
In this paper, a reference trajectory tracking control is designed for a typical quadrotor. For this purpose, two control ‎loops is proposed as follow: the inner loop is based on state feedback control technique and optimal control which ‎coefficients are obtained as a function of system states using the genetic algorithm. Then, optimal control coefficients ‎functions are extracted‏ ‏using the optimally stored data and least square method. The mentioned control function is ‎based on a linear relationship between system state space and control coefficients. In the outer control loop, the PID ‎control is utilized. Since, in this approach, the control coefficients are ‎obtained from the genetic algorithm, the ‎properties of the fitness function are considered. The ‎performance of the proposed controller is evaluated by a ‎comparative study especially to the PID ‎controller, which is widely used in the literature. The simulation results show ‎the effective performance of this technique in controlling Euler angles, reduction in summation of tracking error and ‎optimization in power consumption.‎
Keywords
Quadrotor
Nonlinear Control
6DOF equations
Gains tuning
Genetic Algorithm
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Journal of Aeronautical Engineering
Volume 22, Issue 2
December 2020
Pages 146-156

  • Receive Date 17 March 2021
  • Revise Date 25 July 2021
  • Accept Date 27 July 2021