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Robust Control Tuning by PSO of Aerial Robots Hose Transportation

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Bioinspired Computation in Artificial Systems (IWINAC 2015)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 9108))

Abstract

This work presents a method to build a robust controller for a hose transportation system performed by aerial robots. We provide the system dynamic model, equations and desired equilibrium criteria. Control is obtained through PID controllers tuned by particle swarm optimization (PSO). The control strategy is illustrated for three quadrotors carrying two sections of a hose, but the model can be easily expanded to a bigger number of quadrotors system, due to the approach modularity. Experiments demonstrate the PSO tuning method convergence, which is fast. More than one solution is possible, and control is very robust.

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Author information

Authors and Affiliations

  1. Computational Intelligence Group, University of the Basque Country, UPV/EHU, San Sebastian, Spain

    Julian Estevez & Manuel Graña

  2. ENGINE project, Wroclaw University of Technology (WrUT), Wroclaw, Poland

    Manuel Graña

Authors
  1. Julian Estevez
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  2. Manuel Graña
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Corresponding author

Correspondence to Julian Estevez .

Editor information

Editors and Affiliations

  1. Universidad Politécnica de Cartagena, Cartagena, Spain

    José Manuel Ferrández Vicente

  2. Universidad Nacional de Educación a Distancia, Madrid, Spain

    José Ramón Álvarez-Sánchez

  3. Universidad Nacional de Educación a Distancia, Madrid, Spain

    Félix de la Paz López

  4. Universidad Politécnica de Cartagena, Cartagena, Spain

    Fco. Javier Toledo-Moreo

  5. Dept. Civil & Environmental Engin. Geodetic Science, Ohio State University, Columbus, Ohio, USA

    Hojjat Adeli

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© 2015 Springer International Publishing Switzerland

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Estevez, J., Graña, M. (2015). Robust Control Tuning by PSO of Aerial Robots Hose Transportation. In: Ferrández Vicente, J., Álvarez-Sánchez, J., de la Paz López, F., Toledo-Moreo, F., Adeli, H. (eds) Bioinspired Computation in Artificial Systems. IWINAC 2015. Lecture Notes in Computer Science(), vol 9108. Springer, Cham. https://doi.org/10.1007/978-3-319-18833-1_31

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  • DOI: https://doi.org/10.1007/978-3-319-18833-1_31

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-18832-4

  • Online ISBN: 978-3-319-18833-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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