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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilizace a řízení týmů vzájemně lokalizovaných autonomních helikoptér letících oblastmi s velkým výskytem překážek</a><br>

Návaznosti

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

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název periodika

Sensors

ISSN

1424-8220

e-ISSN

1424-8220

Svazek periodika

19

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

30

Strana od-do

—

Kód UT WoS článku

000458569300095

EID výsledku v databázi Scopus

2-s2.0-85060056279