CONFERENCE PROCEEDINGS
Advanced Search
Home > Proceedings > Volume 11442 > Article
Open Access Paper
11 February 2020 Linear controller design with the use of PSO algorithm for UAV trajectory tracking
Piotr Pawłowski, Stanisław Konatowski
Author Affiliations +
Proceedings Volume 11442, Radioelectronic Systems Conference 2019; 114420Z (2020) https://doi.org/10.1117/12.2565129
Event: Radioelectronic Systems Conference 2019, 2019, Jachranka, Poland
Abstract
This paper uses the PSO (Particle Swarm Optimization) algorithm to linearly control a BSP unmanned aircraft, enabling accurate tracking of a predefined trajectory. In the process of control optimization, the PSO algorithm was implemented with a quadratic cost function. During the study, unstable algorithm behavior was observed, as a result of which a modification was made by introducing a coefficient suppressing the movement of particles in the search space. The main task of the coefficient is to ensure the convergence of the solution. The effect of the coefficient value on population behavior was tested. In the simulation research on tracking, the previously generated trajectory was used, which is a reference for the location, velocity, and course for the linear dynamic BSP model. The results of these tests were presented in the form of waveforms of control signals and waveforms of state variables. By selecting the appropriate parameters, the proposed algorithm enabled the repeatability of results, as well as the proper mapping of the trajectory at the time of the operation of the algorithm not exceeding 0.03 seconds.
© (2020) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation Download Citation
Piotr Pawłowski and Stanisław Konatowski "Linear controller design with the use of PSO algorithm for UAV trajectory tracking", Proc. SPIE 11442, Radioelectronic Systems Conference 2019, 114420Z (11 February 2020); https://doi.org/10.1117/12.2565129
PROCEEDINGS
 16 PAGES
DOWNLOAD PAPER SAVE TO MY LIBRARY
GET CITATION
Advertisement
Advertisement
RIGHTS & PERMISSIONS
Get copyright permission  Get copyright permission on Copyright Marketplace
KEYWORDS
Unmanned aerial vehicles
Particle swarm optimization
Particles
Detection and tracking algorithms
Matrices
Control systems
Mathematical modeling
RELATED CONTENT
Subscribe to Digital Library
Receive Erratum Email Alert
Back to Top