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2021 | OriginalPaper | Chapter

Optimal Robust Model-Free Control for Altitude of a Mini-Drone Using PSO Algorithm

Authors : Hossam Eddine Glida, Latifa Abdou, Abdelghani Chelihi, Chouki Sentouh, Gabriele Perozzi

Published in: Proceedings of the 2nd International Conference on Electronic Engineering and Renewable Energy Systems

Publisher: Springer Singapore

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Abstract

This paper presents a model-free controller based on particle swarm optimization algorithm (PSO-MFC) for the altitude systems of a Mini-Drone. A model-free control (MFC) is applied to improve both trajectory tracking and robustness of quadrotor in the presence of external uncertainties and disturbance. The problem of Tuning MFC parameters designed is formulated as an optimization problem according to time domain objective function that is solved by PSO algorithm to find the most optimistic results. In order to prove the robustness of the proposed algorithm, an extensive set of numerical results are presented using a real Simulink Template for Parrot Mini-Drone platform. Results evaluation show that the proposed control scheme achieves good performance for altitude system compared to the controller without optimization.

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previous chapter Mechanical Modeling, Control and Simulation of a Quadrotor UAV

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Title: Optimal Robust Model-Free Control for Altitude of a Mini-Drone Using PSO Algorithm
Authors: Hossam Eddine Glida
Latifa Abdou
Abdelghani Chelihi
Chouki Sentouh
Gabriele Perozzi
Publisher: Springer Singapore
Book: Proceedings of the 2nd International Conference on Electronic Engineering and Renewable Energy Systems
Print ISBN: 978-981-15-6258-7

Electronic ISBN: 978-981-15-6259-4

Copyright Year: 2021
DOI: https://doi.org/10.1007/978-981-15-6259-4_48

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