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Optimal Robust Model-Free Control for Altitude of a Mini-Drone Using PSO Algorithm

Abstract : This paper presents a model-free controller based on particle swarm optimization algorithm (PSO-MFC) for the altitude systems of a Mini-Drone. A model-free control (MFC) is applied to improve both trajectory tracking and robustness of quadrotor in the presence of external uncertainties and disturbance. The problem of Tuning MFC parameters designed is formulated as an optimization problem according to time domain objective function that is solved by PSO algorithm to find the most optimistic results. In order to prove the robustness of the proposed algorithm, an extensive set of numerical results are presented using a real Simulink Template for Parrot Mini-Drone platform. Results evaluation show that the proposed control scheme achieves good performance for altitude system compared to the controller without optimization.
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https://hal-uphf.archives-ouvertes.fr/hal-03406058
Contributor : Mylène Delrue Connect in order to contact the contributor
Submitted on : Wednesday, October 27, 2021 - 4:03:53 PM
Last modification on : Thursday, October 28, 2021 - 4:09:54 AM

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  • HAL Id : hal-03406058, version 1

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Hossam Eddine Glida, Latifa Abdou, Abdelghani Chelihi, Chouki Sentouh, Gabriele Perozzi. Optimal Robust Model-Free Control for Altitude of a Mini-Drone Using PSO Algorithm. 2nd International Conference on Electronic Engineering and Renewable Energy (ICEERE'2020), Apr 2020, Saidia, Morocco. pp.451-459. ⟨hal-03406058⟩

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