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Modelling and Genetic Algorithm Based-PID Control of H-Shaped Racing Quadcopter

  • Research Article - Electrical Engineering
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Abstract

This work presents a detailed mathematical modelling of H-shaped racing quadcopter. The complete nonlinear dynamic model is obtained by exploiting Newton–Euler method as a common technique used in quadcopter modelling. A trajectory tracking controller is proposed, in which four PID controllers are designed to stabilize the quadcopter and to achieve the required altitude and orientation. However, a nested loop PID controllers are designed to track the desired x and y position of the quadcopter. The PID coefficients for the aforementioned proposed controllers are tuned using genetic algorithm (GA). The objective function for the GA was set so as to minimize the absolute tracking error, peak overshoot, and settling time for a step inputs. A MATLAB/Simulink environment is used to conduct the system model and the designed controller. The closed loop system performance is depicted for individual step inputs and for a predefined trajectory. Simulation results show a perfect step response performance and excellent trajectory tracking capability with a very low error budget. Finally, the controller robustness is examined and it is shown that the designed controller is robust against sensor noise, external disturbances, and model parameters uncertainties.

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Authors and Affiliations

  1. Al-Khwarizmi College of Engineering, University of Baghdad, Baghdad, Iraq

    Ahmed Alkamachi

  2. Department of Electrical and Electronics Engineering, University of Gaziantep, Gaziantep, Turkey

    Ergun Erçelebi

Authors
  1. Ahmed Alkamachi
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  2. Ergun Erçelebi
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Correspondence to Ahmed Alkamachi.

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Alkamachi, A., Erçelebi, E. Modelling and Genetic Algorithm Based-PID Control of H-Shaped Racing Quadcopter. Arab J Sci Eng 42, 2777–2786 (2017). https://doi.org/10.1007/s13369-017-2433-2

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  • DOI: https://doi.org/10.1007/s13369-017-2433-2

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