Optimal Tuning of Altitude Controller Parameters of Unmanned Aerial Vehicle Using Iterative Learning Approach
[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
2020
chapter in monograph
english
- unmanned aerial vehicle
- zero-order optimization
- controller tuning
- Fibonacci-search algorithm
- bootstrapping technique
EN 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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