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Izvorni znanstveni članak
https://doi.org/https://doi.org/10.1080/00051144.2019.1698191

Particle swarm optimization based proportional-derivative parameters for unmanned tilt-rotor flight control and trajectory tracking

Nada El Gmili ; Department of Applied Physics, Cadi Ayyad University, Marrakesh, Morocco
Mostafa Mjahed ; Department of Mathematics and Systems, Royal School of Aeronautics, Marrakesh, Morocco
Abdeljalil El Kari ; Department of Applied Physics, Cadi Ayyad University, Marrakesh, Morocco
Hassan Ayad ; Department of Applied Physics, Cadi Ayyad University, Marrakesh, Morocco

Puni tekst: engleski, pdf (6 MB) str. 189-206 preuzimanja: 11* citiraj
APA 6th Edition
El Gmili, N., Mjahed, M., El Kari, A. i Ayad, H. (2020). Particle swarm optimization based proportional-derivative parameters for unmanned tilt-rotor flight control and trajectory tracking. Automatika, 61 (2), 189-206. Preuzeto s https://hrcak.srce.hr/239863
MLA 8th Edition
El Gmili, Nada, et al. "Particle swarm optimization based proportional-derivative parameters for unmanned tilt-rotor flight control and trajectory tracking." Automatika, vol. 61, br. 2, 2020, str. 189-206. https://hrcak.srce.hr/239863. Citirano 08.08.2020.
Chicago 17th Edition
El Gmili, Nada, Mostafa Mjahed, Abdeljalil El Kari i Hassan Ayad. "Particle swarm optimization based proportional-derivative parameters for unmanned tilt-rotor flight control and trajectory tracking." Automatika 61, br. 2 (2020): 189-206. https://hrcak.srce.hr/239863
Harvard
El Gmili, N., et al. (2020). 'Particle swarm optimization based proportional-derivative parameters for unmanned tilt-rotor flight control and trajectory tracking', Automatika, 61(2), str. 189-206. Preuzeto s: https://hrcak.srce.hr/239863 (Datum pristupa: 08.08.2020.)
Vancouver
El Gmili N, Mjahed M, El Kari A, Ayad H. Particle swarm optimization based proportional-derivative parameters for unmanned tilt-rotor flight control and trajectory tracking. Automatika [Internet]. 2020 [pristupljeno 08.08.2020.];61(2):189-206. Dostupno na: https://hrcak.srce.hr/239863
IEEE
N. El Gmili, M. Mjahed, A. El Kari i H. Ayad, "Particle swarm optimization based proportional-derivative parameters for unmanned tilt-rotor flight control and trajectory tracking", Automatika, vol.61, br. 2, str. 189-206, 2020. [Online]. Dostupno na: https://hrcak.srce.hr/239863. [Citirano: 08.08.2020.]

Sažetak
This paper presents the dynamic modelling and control technique for a tilt-rotor aerial vehicle operating in bi-rotor mode. This kind of aircraft combines two flight envelopes, making it ideal for scenarios that require hovering, vertical take-off/landing and fixed-wing capabilities. In this work, a detailed mathematical model is derived using Newton–Euler formalism. Based on the obtained model, a new control scheme that incorporates six Proportional-Derivative (PD) controllers is proposed for the attitudes (roll (φ), pitch (θ), yaw (ψ)) and the positions (x, y, z) of the aircraft. Then, intelligent Particle Swarm Optimization (PSO) and conventional Reference Model (RM) techniques are applied for optimal tuning of the controllers' parameters. The stability analysis is developed using the Lyapunov approach and its application to the tilt-rotor system in the case of intelligent and conventional PD controllers. Numerical results of two scenarios prove the efficiency of the controllers tuned using the PSO method. Indeed, its ability to track the desired trajectories is demonstrated through 3D path tracking simulations, even in the presence of wind disturbances. Finally, experimental tests of stabilization and trajectory tracking are carried out on our prototype. These testing showed that our tilt-rotor was stable and suitably follows the imposed trajectories.

Ključne riječi
Tilt-rotor; UAV; PSO; control; reference model; trajectory tracking

Hrčak ID: 239863

URI
https://hrcak.srce.hr/239863

Posjeta: 23 *