Abstract
Dynamics and flight stabilization of a multirotor unmanned aerial vehicle (UAV) can be shaped by appropriate mechanisms of tuning parameters of its position and orientation controllers. In the article, the attention is focused on a fixed-parameters altitude controller. Its gains can be tuned optimally and automatically according to the expected criterion, and the search process takes place during the UAV short-time flight. For this purpose, it is proposed to use the auto-tuning method based on the bootstrapping technique and zero-order optimization using Fibonacci-search algorithm. The theoretical basis of the proposed method and discussion of the results from conducted simulation experiments for the exemplary quadrotor model, are presented in the paper.
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Giernacki, W. (2020). Optimal Tuning of Altitude Controller Parameters of Unmanned Aerial Vehicle Using Iterative Learning Approach. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2019. AUTOMATION 2019. Advances in Intelligent Systems and Computing, vol 920. Springer, Cham. https://doi.org/10.1007/978-3-030-13273-6_38
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DOI: https://doi.org/10.1007/978-3-030-13273-6_38
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