Dobór nastaw regulatorów PID dla quadrocoptera z wykorzystaniem metod optymalizacyjnych w programie Wolfram Mathematica
Selection of settings of PID regulators for quadrocopter with the use of optimization methods in the Wolfram MATHEMATICA software
Keywords:
Selection, quadrocopter, optimization methods, MATHEMATICA software
Abstract
The article presents the method of modeling the dynamics of a quadrocopter and presents a method for the selection of PID regulators. The quadrocopter's dynamics were derived based on the Lagrange equations of the second type. In the form of graphs, the simulation results were presented for the settings selected using the optimization method using the Wolfram Mathematica package
References
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2. Ben Ammar N., Bouallegue S., Haggege J., Modeling and sliding mode control of a quadrotor unmanned aerial vehicle, 3rd International Conference on Automation, Control, Engineering and Computer Science, (2016 r.) pp. 834-840
3. Bouabdallah, S., Noth A., Siegwart R., PID vs LQ control techniques applied to an indoor micro quadrotor, IEEE/RSJ International Conference on Intelligent Robots and Systems, (2014 r.) pp. 2451 – 2456.
4. Cheng L. L., Liu H. B., Examples of Quadrocopter control on ROS, IEEE 9th International Conference on Anti-counterfeiting, Security, and Identification (ASID), 2015r.
5. Florek M., Huba M., Duchon F., Sovcik J., Kajan M., Comparing approaches to quadrocopter control, 23rd International Conference on Robotics in Alpe-Adria-Danube Region, Słowacja 2014
6. Gardecki S., Giernacki W., Gośliński J., Kasiński A., An adequate mathematical model of four-rotor flying robot in the context of control simulations, [w:] Journal of Automation, Mobile Robotics & Intelligent Systems, vol. 8, no. 2 (2014 r.), pp. 9-16
7. Gliński H., Grzymkowski R., Kapusta A., Słota D., Mathematica 8, Wydawnictwo Pracowni Komputerowej Jacka Skalmierskiego, Gliwice 2012 r.
8. Herrera M., Chamorro W., Gómez A. P., Camacho O., Sliding mode control An approach to control a quadrotor, Conference: APCASE 2015, At Quito, Ecuador, (2015 r.)
9. Holonec R., Copindean R., Dragan F., Rapolti L., Self-quided AR Drone using LabVIEW, [w:] Acta Electrotehnica Vol. 57 No. 5, pp. 600-603, 2016 r.
10. Rabhi A., Chadli M., and Pegard C., Robust Fuzzy Control for Stabilization of a Quadrotor, 15th International Conference on Advanced Robotics (ICAR), (2011 r.) pp. 471 - 475
11. Seidler J., Badach A., Molisz W., Metody rozwiązywania zadań optymalizacji, Wydawnictwa Naukowo-Techniczne, Warszawa 1980
12. Vitecek A., Cedro L., Farana R., Modelowanie matematyczne: podstawy, Wydawnictwo Politechniki Świętokrzyskiej, Kielce 2010 r.
Published
2018-06-21
Issue
Section
Eksploatacja i Testy/Exploitation and Tests
Copyright (c) 2018 Autobusy – Technika, Eksploatacja, Systemy Transportowe
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