Real-time model-free minimum-seeking autotuning method for unmanned aerial vehicle controllers based on fibonacci-search algorithm

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00328291" target="_blank" >RIV/68407700:21230/19:00328291 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.3390/s19020312" target="_blank" >https://doi.org/10.3390/s19020312</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/s19020312" target="_blank" >10.3390/s19020312</a>

Result language

angličtina

Original language name

Real-time model-free minimum-seeking autotuning method for unmanned aerial vehicle controllers based on fibonacci-search algorithm

Original language description

The paper presents a novel autotuning approach for finding locally-best parameters of controllers on board of unmanned aerial vehicles (UAVs). The controller tuning is performed fully autonomously during flight on the basis of predefined ranges of controller parameters. Required controller properties may be simply interpreted by a cost function, which is involved in the optimization process. For example, the sum of absolute values of the tracking error samples or performance indices, including weighed functions of control signal samples, can be penalized to achieve very precise position control, if required. The proposed method relies on an optimization procedure using Fibonacci-search technique fitted into bootstrap sequences, enabling one to obtain a global minimizer for a unimodal cost function. The approach is characterized by low computational complexity and does not require any UAV dynamics model (just periodical measurements from basic onboard sensors) to obtain proper tuning of a controller. In addition to the theoretical background of the method, an experimental verification in real-world outdoor conditions is provided. The experiments have demonstrated a high robustness of the method to in-environment disturbances, such as wind, and its easy deployability.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilization and control of teams of relatively-localized micro aerial vehicles in high obstacle density areas</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2019

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Sensors

ISSN

1424-8220

e-ISSN

1424-8220

Volume of the periodical

19

Issue of the periodical within the volume

2

Country of publishing house

CH - SWITZERLAND

Number of pages

30

Pages from-to

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UT code for WoS article

000458569300095

EID of the result in the Scopus database

2-s2.0-85060056279