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Article

Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning

by
Patricia Portillo
1,
Luis E. Garza-Castañón
1,*,
Luis I. Minchala-Avila
2,
Adriana Vargas-Martínez
1,
Vicenç Puig Cayuela
3 and
Pierre Payeur
4
1
School of Engineering and Sciences, Tecnologico de Monterrey, Eugenio Garza Sada 2501, Monterrey 64849, Mexico
2
Department of Electrical Engineering, Electronics and Telecommunications, Universidad de Cuenca, Cuenca 010101, Azuay, Ecuador
3
Supervision, Safety and Automatic Control Research Center (CS2AC), Universitat Politécnica de Catalunya (UPC), Rambla Sant Nebridi, 22, 08222 Terrassa, Barcelona, Spain
4
School of Electrical Engineering and Computer Science, University of Ottawa, 800 King Edward, Ottawa, ON K1N 6N5, Canada
*
Author to whom correspondence should be addressed.
Machines 2023, 11(9), 870; https://doi.org/10.3390/machines11090870
Submission received: 4 July 2023 / Revised: 23 August 2023 / Accepted: 25 August 2023 / Published: 29 August 2023
(This article belongs to the Special Issue Robust Control of Robotic and Complex Mechatronic Systems)
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Abstract

This paper presents the utilization of robust nonlinear control schemes for a single-rotor unmanned aerial vehicle (SR-UAV) mathematical model. The nonlinear dynamics of the vehicle are modeled according to the translational and rotational motions. The general structure is based on a translation controller connected in cascade with a P-PI attitude controller. Three different control approaches (classical PID, Super Twisting, and Adaptive Sliding Mode) are compared for the translation control. The parameters of such controllers are hard to tune by using a trial-and-error procedure, so we use an automated tuning procedure based on the Particle Swarm Optimization (PSO) method. The controllers were simulated in scenarios with wind gust disturbances, and a performance comparison was made between the different controllers with and without optimized gains. The results show a significant improvement in the performance of the PSO-tuned controllers.
Keywords: single-rotor unmanned aerial vehicle; robust control; particle swarm optimization tuning single-rotor unmanned aerial vehicle; robust control; particle swarm optimization tuning

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MDPI and ACS Style

Portillo, P.; Garza-Castañón, L.E.; Minchala-Avila, L.I.; Vargas-Martínez, A.; Puig Cayuela, V.; Payeur, P. Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning. Machines 2023, 11, 870. https://doi.org/10.3390/machines11090870

AMA Style

Portillo P, Garza-Castañón LE, Minchala-Avila LI, Vargas-Martínez A, Puig Cayuela V, Payeur P. Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning. Machines. 2023; 11(9):870. https://doi.org/10.3390/machines11090870

Chicago/Turabian Style

Portillo, Patricia, Luis E. Garza-Castañón, Luis I. Minchala-Avila, Adriana Vargas-Martínez, Vicenç Puig Cayuela, and Pierre Payeur. 2023. "Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning" Machines 11, no. 9: 870. https://doi.org/10.3390/machines11090870

APA Style

Portillo, P., Garza-Castañón, L. E., Minchala-Avila, L. I., Vargas-Martínez, A., Puig Cayuela, V., & Payeur, P. (2023). Robust Nonlinear Trajectory Controllers for a Single-Rotor UAV with Particle Swarm Optimization Tuning. Machines, 11(9), 870. https://doi.org/10.3390/machines11090870

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