Fuzzy logic controller for UAV with gains optimized via genetic algorithm

被引：12

作者：

Rodriguez-Abreo, Omar ^{[1
]}

Rodriguez-Resendiz, Juvenal ^{[2
]}

Garcia-Cerezo, A. ^{[1
]}

Garcia-Martinez, Jose R. ^{[3
]}

机构：

[1] Univ Malaga, Space Robot Lab, Dept Syst Engn & Automat, C Ortiz Ramos S-N, Malaga 29071, Spain

[2] Univ Autonoma Queretaro, Fac Ingn, Queretaro 76010, Mexico

[3] Univ Veracruzana, Fac Ingn Elect & Comunicac, Poza Rica 93390, Ver, Mexico

来源：

HELIYON | 2024年 / 10卷 / 04期

关键词：

Fuzzy logic; UAV; Metaheuristic algorithm; Genetic algorithm; Optimization; TRACKING;

D O I：

10.1016/j.heliyon.2024.e26363

中图分类号：

O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

A gains optimizer of a fuzzy controller system for an Unmanned Aerial Vehicle (UAV) based on a metaheuristic algorithm is developed in the present investigation. The contribution of the work is the adjustment by the Genetic Algorithm (GA) to tune the gains at the input of a fuzzy controller. First, a typical fuzzy controller was modeled, designed, and implemented in a mathematical model obtained by Newton-Euler methodology. Subsequently, the control gains were optimized using a metaheuristic algorithm. The control objective is that the UAV consumes the least amount of energy. With this basis, the Genetic Algorithm finds the necessary gains to meet the design parameters. The tests were performed using the Matlab-Simulink environment. The results indicate an improvement, reducing the error in tracking trajectories from 30% in some tasks and following trajectories that could not be completed without a tuned controller in other tasks.

引用

页数：14

共 50 条

[1] A Genetic Algorithm Optimized Fuzzy Logic Controller for Shunt Active Power Filter
Syed, Moinuddin K.
Ram, B. V. Sanker
2016 INTERNATIONAL CONFERENCE ON ELECTRICAL, ELECTRONICS, AND OPTIMIZATION TECHNIQUES (ICEEOT), 2016, : 1892 - 1896
[2] Tuning of fuzzy logic controller with genetic algorithm
Zupančič, Borut
Klopčič, Marko
Karba, Rihard
Informatica (Ljubljana), 1999, 23 (04): : 559 - 564
[3] Optimized PID controller via genetic algorithm
Teng, QF
Fan, DW
Cao, J
ICEMI 2005: Conference Proceedings of the Seventh International Conference on Electronic Measurement & Instruments, Vol 5, 2005, : 15 - 19
[4] A genetic algorithm-optimized fuzzy logic controller to avoid rear-end collisions
Chen, Chen
Li, Meilian
Sui, Jisheng
Wei, Kangwen
Pei, Qingqi
JOURNAL OF ADVANCED TRANSPORTATION, 2016, 50 (08) : 1735 - 1753
[5] Genetic algorithm based optimization of fuzzy logic for UAV landing
El Hashani, AT
Xian, JY
ICCC2004: PROCEEDINGS OF THE 16TH INTERNATIONAL CONFERENCE ON COMPUTER COMMUNICATION VOL 1AND 2, 2004, : 1682 - 1686
[6] Fast response fuzzy logic controller optimized by bats sonar algorithm
Elias, Nurainaa
Yahya, Nafrizuan Mat
SN APPLIED SCIENCES, 2020, 2 (02):
[7] Fast response fuzzy logic controller optimized by bats sonar algorithm
Nurainaa Elias
Nafrizuan Mat Yahya
SN Applied Sciences, 2020, 2
[8] Fuzzy Controller of Pipeline Robot Navigation Optimized by Genetic Algorithm
Shijing Wu
Qunli Li
Enyong Zhu
Jing Xie
Gong Zhichao
2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11, 2008, : 904 - 908
[9] Genetic algorithm based parameter optimization of a fuzzy logic controller
Lin, CF
Bao, PA
Braasch, SJ
Whorton, MS
AIAA GUIDANCE, NAVIGATION, AND CONTROL CONFERENCE, VOLS 1-3: A COLLECTION OF TECHNICAL PAPERS, 1999, : 1117 - 1122
[10] Fuzzy-integration controller design of UAV based on genetic algorithm
Tang, Sheng-Jing
Song, Xiang
Guo, Jie
Ma, Yue-Yue
Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology, 2013, 33 (12): : 1274 - 1278

← 1 2 3 4 5 →