Pareto Optimal PID Tuning for Px4-Based Unmanned Aerial Vehicles by Using a Multi-Objective Particle Swarm Optimization Algorithm

Unmanned aerial vehicles (UAVs) are affordable these days. For that reason, there are currently examples of the use of UAVs in recreational, professional and research applications. Most of the commercial UAVs use Px4 for their operating system. Even though Px4 allows one to change the flight control...

Full description

Saved in:
Bibliographic Details
Published in:Aerospace 2020-06, Vol.7 (6), p.71
Main Authors: Gomez, Victor, Gomez, Nicolas, Rodas, Jorge, Paiva, Enrique, Saad, Maarouf, Gregor, Raul
Format: Article
Language:English
Subjects:
Aircraft
Algorithms
Altitude control
Control algorithms
Controllers
Design parameters
Flight control systems
Mathematical models
multi-objective particle swarm optimization
Multiple objective analysis
Optimization
Pareto front
Pareto optimum
Particle swarm optimization
Proportional integral derivative
Px4
quadrotor
Recreational use
Software
Tuning
Unmanned aerial vehicles
Vehicles
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Unmanned aerial vehicles (UAVs) are affordable these days. For that reason, there are currently examples of the use of UAVs in recreational, professional and research applications. Most of the commercial UAVs use Px4 for their operating system. Even though Px4 allows one to change the flight controller structure, the proportional-integral-derivative (PID) format is still by far the most popular choice. A selection of the PID controller parameters is required before the UAV can be used. Although there are guidelines for the design of PID parameters, they do not guarantee the stability of the UAV, which in many cases, leads to collisions involving the UAV during the calibration process. In this paper, an offline tuning procedure based on the multi-objective particle swarm optimization (MOPSO) algorithm for the attitude and altitude control of a Px4-based UAV is proposed. A Pareto dominance concept is used for the MOPSO to find values for the PID comparing parameters of step responses (overshoot, rise time and root-mean-square). Experimental results are provided to validate the proposed tuning procedure by using a quadrotor as a case study.
ISSN:2226-4310
2226-4310
DOI:10.3390/aerospace7060071