کنفرانس مهندسی برق ایران

صفحه اصلی / بیست و نهمین کنفرانس مهندسی برق ایران

Optimal Path Planning and Control of a Hexarotor with Mass Uncertainty in the Presence of Dynamic Obstacles and Wind Using Sliding Mode and Adaptive PSO Algorithm

نویسندگان :

Nima Sina¹ Peyman Amiri² Mohammad Danesh³

1- Najaf Abad Branch, Islamic Azad University 2- Isfahan University of Technology 3- Isfahan University of Technology

کلمات کلیدی :

Hexarotor , SMC , Moving Obstacles , Mass uncertainty , Optimal Path Planning , Adaptive PSO

چکیده :

This article presents a sliding mode and feedback linearization controller for position and attitude control of a hexarotor with an uncertain mass in the presence of wind. Also, a constrained adaptive particles swarm optimization (APSO) algorithm is used to find the optimal path and avoiding moving obstacles with time-varying radiuses. Furthermore, the stability proof of the controllers for this case is presented. Finally, the results of simulations are utilized to present the operation of the proposed controllers and path planning algorithm performances.

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