Improved PID rate control of a quadrotor with a convexity-based surrogated model
Aircraft Engineering and Aerospace Technology
ISSN: 0002-2667
Article publication date: 10 August 2021
Issue publication date: 22 September 2021
Abstract
Purpose
The purpose of this paper is to develop, extend and propose an improved proportional integral derivative (PID) rate control of a quadrotor unmanned aerial vehicle based on a convexity-based surrogated firefly algorithm.
Design/methodology/approach
An improved PID controller structure is proposed for the rate dynamics of the quadrotor. Optimality of the controller is ensured by a recent, simple yet efficient firefly optimization method. The hybrid structure is further enhanced with a convexity-based surrogated model function.
Findings
Monte Carlo, transient response, error metrics and histogram distribution analyzes are conducted to show the performance of the proposed controller. The performance of the proposed method is evaluated under various convex combination values to further investigate the effect of the proposed surrogated model. According to the results, the proposed method is capable of controlling the rate quadrotor dynamics with the steady-state error of 0.0023 (rad/s) for P, −0.0024 (rad/s) for Q and 0 (rad/s) for the R state, respectively. Also, the least mean objective value is achieved at = 0 value of convexity in Monte Carlo trials.
Originality/value
The originality of this paper is to propose an improved PID rate controller with a convexity-based surrogated firefly algorithm.
Keywords
Acknowledgements
This study was partially supported by Eskişehir Technical University Scientific Research Projects Commission under the grant no: 20ADP229.
Citation
Kaba, A. (2021), "Improved PID rate control of a quadrotor with a convexity-based surrogated model", Aircraft Engineering and Aerospace Technology, Vol. 93 No. 8, pp. 1287-1301. https://doi.org/10.1108/AEAT-03-2021-0093
Publisher
:Emerald Publishing Limited
Copyright © 2021, Emerald Publishing Limited