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http://dx.doi.org/10.3795/KSME-A.2015.39.7.673

Approximate Multi-Objective Optimization of a Quadcopter through Proportional-Integral-Derivative Control  

Yoon, Jaehyun (School of Mechanical Engineering, Yonsei Univ.)
Lee, Jongsoo (School of Mechanical Engineering, Yonsei Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.39, no.7, 2015 , pp. 673-679 More about this Journal
Abstract
In this study, the nondominated sorting genetic algorithm (NSGA-II) is used to obtain the optimized proportional-integral-derivative (PID) gain value that can quickly recover the motion of a quadcopter after a disturbance. Prior to PID control, the four-rotor quadcopter interval was defined using computational fluid dynamics (CFD). Through the definition of this model, the PID control algorithm was generated. To construct a response surface model, D-optimal programming was used for the generation of experimental points. For this purpose, a gain value that satisfies both the roll and altitude PID gain values is obtained. Using the NSGA-II, the gain value of shorten time of the quadcopter motion control can be optimized.
Keywords
Quad-Copter; PID Control; D-Optimal; Response Surface Method; NSGA-II;
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