Optimization of Force and Torque Bounds for the Flight Control System of a Quadcopter using PSO

• Luiz Giacomossi ITA
• Angelo Caregnato-Neto ITA
• Marcos R. O. A. Maximo ITA

Resumo

The development of Unmanned Aerial Vehicles (UAVs) has been a recurrent subject in the literature due to their potential to service many diverse applications and operate in different environments. The design of flight control systems (FCSs) for these vehicles is an essential and challenging aspect of their development. In particular, the appropriate tuning of FCS parameters, such as force and torque bounds, is difficult to determine analytically due to the generally complex dynamics of UAVs. In this work, we propose the use of a meta-heuristic approach for the optimization of the control effort bounds of a quadcopter's FCS, focusing on the improvement of its performance considering a trajectory with sharp maneuvers. Additionally, we study the design and optimization of control laws with the saturation of the control signals for both the position and attitude controllers. Simulation results show that the FCS designed using the proposed approach outperforms manual tuning in terms of trajectory tracking performance.

Palavras-chave: Torque, Trajectory tracking, Simulation, Force, Metaheuristics, Trajectory, Vehicle dynamics, Meta-heuristic, PSO, Optimization, UAV, Flight Control System