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

摘要

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.