کنفرانس مهندسی برق ایران

صفحه اصلی / سی امین کنفرانس بین المللی مهندسی برق

The Design of Fractional I-LQR Controller for Constrained Quadrotor Using Grasshopper Optimization Algorithm

نویسندگان :

Vahid Safari Dehnavi¹ Masoud Shafiee²

1- دانشگاه صنعتی امیرکبیر 2- صنعتی امیرکبیر (پلی تکنیک تهران)

کلمات کلیدی :

Grasshopper optimization algorithm،FI-LQR controller،Quadrotor،Singular structure.

چکیده :

In control theory and its applications, the development of high-performance controllers is important; Therefore, this paper describes linear quadratic regulator (LQR), integral-LQR (I-LQR) and fractional integral-LQR (FI-LQR) with grasshopper optimization algorithm for quadrotors in hover mode. At first, the dynamic of quadrotor is introduced and the equations of state space are presented to simulate the model, then the constraint of quadrotor is presented which by this constraint, the structure should be described as singular model. Then the LQR, I-LQR and FI-LQR are designed to control the height and angles of the quadrotor. Then, by changing the dynamic of system and defining the error as new state, new quadrotor dynamics based on FI-LQR is achieved and it is designed to eliminate the steady-state error. To optimize the parameters of FI-LQR, new optimized grasshopper optimization algorithm is used in such a way that the cost function has lowest value. The input value of the motors is also calculated to indicate the capability of the controller. For a more accurate comparison, the cost function is calculated for different values of the Q and R matrices for controllers and the results are compared. The results show that the FI-LQR with grasshopper optimization algorithm has a higher ability to minimize the cost function rather than LQR and I-LQR.