[2006.10522] PIDA: Smooth and Stable Flight Using Stochastic Dual Simplex Algorithm and Genetic Filter
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Computer Science > Robotics

arXiv:2006.10522 (cs)
[Submitted on 17 Jun 2020 (v1), last revised 14 Sep 2020 (this version, v2)]

Title:PIDA: Smooth and Stable Flight Using Stochastic Dual Simplex Algorithm and Genetic Filter

Authors:Seid Miad Zandavi, Vera Chung, Ali Anaissi
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Abstract:This paper presents a new Proportional-Integral-Derivative-Accelerated (PIDA) control with a derivative filter to improve quadcopter flight stability in a noisy environment. The mathematical model is derived from having an accurate model with a high level of fidelity by addressing the problems of non-linearity, uncertainties, and coupling. These uncertainties and measurement noises cause instability in flight and automatic hovering. The proposed controller associated with a heuristic Genetic Filter (GF) addresses these challenges. The tuning of the proposed PIDA controller associated with the objective of controlling is performed by Stochastic Dual Simplex Algorithm (SDSA). GF is applied to the PIDA control to estimate the observed states and parameters of quadcopters in both attitude and altitude. The simulation results show that the proposed control associated with GF has a strong ability to track the desired point in the presence of disturbances.
Comments: arXiv admin note: substantial text overlap with arXiv:2004.12886
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2006.10522 [cs.RO]
  (or arXiv:2006.10522v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2006.10522
Journal reference: IEEE Transactions on Aerospace and Electronic Systems, 2021
Related DOI: https://doi.org/10.1109/TAES.2021.3134751

Submission history

From: Miad Zandavi Mr [view email]
[v1] Wed, 17 Jun 2020 08:22:08 UTC (785 KB)
[v2] Mon, 14 Sep 2020 01:17:51 UTC (792 KB)
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