A modified genetic algorithm for UAV trajectory tracking control laws optimization

摘要

Purpose - The purpose of this paper is to gain trajectory-tracking controllers for autonomous aircraft are optimized using a modified evolutionary, or genetic algorithm (GA). Design/methodology/approach - The GA design utilizes real representation for the individual consisting of the collection of all controller gains subject to tuning. The initial population is generated randomly over pre-specified ranges. Alternatively, initial individuals are produced as random variations from a heuristically tuned set of gains to increase convergence time. A two-point crossover mechanism and a probabilistic mutation mechanism represent the genetic alterations performed on the population. The environment is represented by a performance index (PI) composed of a set of metrics based on tracking error and control activity in response to a commanded trajectory. Roulette-wheel selection with elitist strategy are implemented. A PI normalization scheme is also implemented to increase the speed of convergence. A flexible control laws design environment is developed, which can be used to easily optimize the gains for a variety of unmanned aerial vehicle (UAV) control laws architectures. Findings - The performance of the aircraft trajectory-tracking controllers was shown to improve significantly through the GA optimization. Additionally, the novel normalization modification was shown to encourage more rapid convergence to an optimal solution. Research limitations/implications - The GA paradigm shows much promise in the optimization of highly non-linear aircraft trajectory-tracking controllers. The proposed optimization tool facilitates the investigation of novel control architectures regardless of complexity and dimensionality. Practical implications - The addition of the evolutionary optimization to the WVU UAV simulation environment enhances significantly its capabilities for autonomous flight algorithm development, testing, and evaluation. The normalization methodology proposed in this paper has been shown to appreciably speed up the convergence of GAs. Originality/value - The paper provides a flexible generalized framework for UAV control system evolutionary optimization. It includes specific novel structural elements and mechanisms for improved convergence as well as a comprehensive PI for trajectory tracking.