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Cuttlefish Optimization Algorithm in Autotuning of Altitude Controller of Unmanned Aerial Vehicle (UAV)

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ROBOT 2017: Third Iberian Robotics Conference (ROBOT 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 693))

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Abstract

Due to the variety of applications of multirotor and fixed-wing unmanned aerial vehicles (UAVs) and their highly energy-limited flight time, there is a strong need for optimization methods in order to ensure the best tracking quality of reference signals changes. In this paper, the use of one of the most recent population-based, bio-inspired, automatic search algorithm for optimal parameters of fixed-gain controller according to the predefined cost function, was proposed. This is cuttlefish algorithm (CFA) which is a new, batch, meta-heuristic algorithm, which mimics the mechanism of colour changing behaviour used by the cuttlefish to solve numerical global optimization problems, and in the paper – to explore the three-dimensional, limited space of parameters of the most commonly used controller type, i.e. PID. This controller was proposed in order to control the altitude of unmanned aerial vehicle. A comparative studies were conducted for the closed-loop control system with the model of unmanned quadrotor helicopter and following controllers: PID (tuned by the CFA), classical PD, fuzzy PD and fractional-order PD controller (tuned by the Particle Swarm Optimization algorithm). In optimization procedure by the use of cuttlefish algorithm, a minimization of an exemplary cost function, i.e. Integral of Absolute Error (IAE), was introduced.

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Author information

Authors and Affiliations

  1. Faculty of Electrical Engineering, Institute of Control, Robotics and Information Engineering, Poznan University of Technology, ul. Piotrowo 3a, 60-965, Poznan, Poland

    Wojciech Giernacki & Piotr Kozierski

  2. Faculty of Engineering, Science and Architecture, Universidad Juárez del Estado de Durango, Av. Universidad S/N, Fracc. Filadelfia, C.P. 35070, Gómez Palacio, Durango, Mexico

    Tadeo Espinoza Fraire

  3. Faculty of Computing, Division of Electronic Systems and Signal Processing, Institute of Automation and Robotics, Poznan University of Technology, ul. Piotrowo 3a, 60-965, Poznan, Poland

    Piotr Kozierski

Authors
  1. Wojciech Giernacki
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  2. Tadeo Espinoza Fraire
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  3. Piotr Kozierski
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Corresponding author

Correspondence to Wojciech Giernacki .

Editor information

Editors and Affiliations

  1. Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Anibal Ollero

  2. Institut de Robòtica I Informàtica Industrial (CSIC-UPC), Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  3. Departamento de Informática e Ingeniería de Sistemas, Escuela de Ingeniería y Arquitectura, Instituto de Investigación en Ingeniería de Aragón, Zaragoza, Spain

    Luis Montano

  4. Institute of Electronics and Telematics Engineering of Aveiro (IEETA), Universidade de Aveiro, Aveiro, Portugal

    Nuno Lau

  5. IDMEC, Instituto Superior Técnico de Lisboa, Universidade de Lisboa, Lisbon, Portugal

    Carlos Cardeira

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Giernacki, W., Espinoza Fraire, T., Kozierski, P. (2018). Cuttlefish Optimization Algorithm in Autotuning of Altitude Controller of Unmanned Aerial Vehicle (UAV). In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_68

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  • DOI: https://doi.org/10.1007/978-3-319-70833-1_68

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70832-4

  • Online ISBN: 978-3-319-70833-1

  • eBook Packages: EngineeringEngineering (R0)

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