Leveraging the benefits of the multiobjective particle swarm optimization (PSO) technique, we introduce a new concept of adaptive strictly negative imaginary (SNI) controllers. The proposed adaptive control systems are specifically designed to minimize a certain performance index, representing the objective of our control design, which is to obtain a stable, robust, and responsive 3-D tracking of the AR.Drone drone in the face of wind gusts. We compare the performance of our proposed adaptive controllers with respect to the performance of PSO-PID control systems and the traditional Ziegler–Nichols PID controllers, not only in simulated flights but also in real flight tests. We also present a stability analysis of the closed-loop control system using the SNI system theory.


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    Title :

    Adaptive Trajectory Tracking for Quadrotor Systems in Unknown Wind Environments Using Particle Swarm Optimization-Based Strictly Negative Imaginary Controllers


    Contributors:


    Publication date :

    2021-06-01


    Size :

    5146369 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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