Attitude controller optimization of four-rotor unmanned air vehicle

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dc.authoridErkol, Huseyin Oktay/0000-0002-3595-175X
dc.contributor.authorErkol, Huseyin Oktay
dc.date.accessioned2024-09-29T16:05:05Z
dc.date.available2024-09-29T16:05:05Z
dc.date.issued2018
dc.departmentKarabük Üniversitesien_US
dc.description.abstractQuadrocopters, which are getting much popular day to day, are unmanned air vehicles which have four rotors to fly and maneuver in the air. They are used in military or commercial areas. Researchers are also interested in quadrocopters because their physical structure is simple; they can be modeled linear or nonlinear; and many problems about control, optimization, or artificial intelligence can be studied on it. A stable quadrocopter design requires firstly a good controller design. There are many control methods applied to quadrocopters but the most used one is the PID controller. Every controller needs to be tuned well for a good performance. Optimization algorithms are one of the popular tools for tuning the controllers. They can be used to produce optimum controller parameters with less experiment and in a short time. Each optimization algorithm has a different characteristic and different performance depending on the problem. So a comparison is needed among some popularly used optimization algorithms. In this study, a quadrocopter is modeled, and four PID controllers are designed to control attitude and hover. The optimum parameters for controllers are determined by the artificial bee colony algorithm, particle swarm optimization, and genetic algorithm. Performance of the controllers and optimization algorithms is given comparatively.en_US
dc.identifier.doi10.1177/1756829317734835
dc.identifier.endpage49en_US
dc.identifier.issn1756-8293
dc.identifier.issn1756-8307
dc.identifier.issue1en_US
dc.identifier.scopus2-s2.0-85042097612en_US
dc.identifier.scopusqualityQ3en_US
dc.identifier.startpage42en_US
dc.identifier.urihttps://doi.org/10.1177/1756829317734835
dc.identifier.urihttps://hdl.handle.net/20.500.14619/6508
dc.identifier.volume10en_US
dc.identifier.wosWOS:000425046900004en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSage Publications Ltden_US
dc.relation.ispartofInternational Journal of Micro Air Vehiclesen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectQuadrocopteren_US
dc.subjectPID controlleren_US
dc.subjectartificial bee colonyen_US
dc.subjectparticle swarm optimizationen_US
dc.subjectgenetic algorithmen_US
dc.titleAttitude controller optimization of four-rotor unmanned air vehicleen_US
dc.typeArticleen_US

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