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Altitude control of quadcopter with symbolic limited optimal discrete control

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Abstract

In recent years, quadcopter UAVs have been extensively utilized. Controlling quadcopters is a major concern, and researchers are actively studying it. In this study, altitude control of a quadcopter UAV is achieved using the symbolic limited optimal discrete controller synthesis technique. The resulting controller is compared with the adaptive PID control method, where the PID controller’s parameters are determined using the Dragonfly algorithm. The findings show the superior performance of our approach.

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Abbreviations

SDCS:

Symbolic discrete controller synthesis

DCS:

Discrete controller synthesis

PID:

Proportional integral derivative

DA:

Dragonfly algorithm

UAV:

Unmanned aerial vehicle

ITSE:

Integral of time squared error

ISE:

Integral of squared error

IAE:

Integral of absolute error

ITAE:

Integral of time multiplied by absolute error

DOF:

Degree of freedom

Tr:

Rise time

Tp:

Peak time

Mp:

Maximum overshoot at peak time

Ts:

Steady state time

Ess:

Steady state error

HDL:

Hardware description language

MH:

Meta-heuristic

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Author notes

  1. Mete Özbaltan and Serkan Çaşka contributed equally to this work.

Authors and Affiliations

  1. Computer Engineering, Erzurum Technical University, Erzurum, Türkiye

    Mete Özbaltan

  2. Mechanical Engineering, Manisa Celal Bayar University, Manisa, Türkiye

    Serkan Çaşka

Authors
  1. Mete Özbaltan
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  2. Serkan Çaşka
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All authors contributed equally to this work.

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Correspondence to Mete Özbaltan.

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Özbaltan, M., Çaşka, S. Altitude control of quadcopter with symbolic limited optimal discrete control. Int. J. Dynam. Control 12, 1533–1540 (2024). https://doi.org/10.1007/s40435-023-01278-3

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  • DOI: https://doi.org/10.1007/s40435-023-01278-3

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