TY - JOUR
T1 - Surrogate Optimal Fractional Control for Constrained Operational Service of UAV Systems
AU - Moness, Mohammed
AU - Abdelghany, Muhammad Bakr
AU - Mohammed, Khloud Mostafa
AU - Mohamed, Moataz
AU - Moustafa, Ahmed M.
N1 - Publisher Copyright:
© 2024 by the authors.
PY - 2024/4
Y1 - 2024/4
N2 - In the expeditiously evolving discipline of autonomous aerial robotics, the efficiency and precision of drone control deliveries have become predominant. Different control strategies for UAV systems have been thoroughly investigated, yet PID controllers still receive significant consideration at various levels in the control loop. Although fractional-order PID controllers (FOPID) have greater flexibility than integer-order PID (IOPID) controllers, they are approached with caution and hesitance. This is due to the fact that FOPID controllers are more computationally intensive to tune, as well as being more challenging to implement accurately in real time. In this paper, we address this problem by developing and implementing a surrogate-based analysis and optimization (SBAO) of a relatively high-order approximation of FOPID controllers. The proposed approach was verified through two case studies; a simulation quadrotor benchmark model for waypoint navigation, and a real-time twin-rotor copter system. The obtained results validated and favored the SBAO approach over other classical heuristic methods for IOPID and FOPID.
AB - In the expeditiously evolving discipline of autonomous aerial robotics, the efficiency and precision of drone control deliveries have become predominant. Different control strategies for UAV systems have been thoroughly investigated, yet PID controllers still receive significant consideration at various levels in the control loop. Although fractional-order PID controllers (FOPID) have greater flexibility than integer-order PID (IOPID) controllers, they are approached with caution and hesitance. This is due to the fact that FOPID controllers are more computationally intensive to tune, as well as being more challenging to implement accurately in real time. In this paper, we address this problem by developing and implementing a surrogate-based analysis and optimization (SBAO) of a relatively high-order approximation of FOPID controllers. The proposed approach was verified through two case studies; a simulation quadrotor benchmark model for waypoint navigation, and a real-time twin-rotor copter system. The obtained results validated and favored the SBAO approach over other classical heuristic methods for IOPID and FOPID.
KW - fractional-order PID
KW - surrogate-based optimization
KW - transportation policy
KW - UAV
KW - waypoint navigation
UR - http://www.scopus.com/inward/record.url?scp=85191747733&partnerID=8YFLogxK
U2 - 10.3390/drones8040141
DO - 10.3390/drones8040141
M3 - Article
AN - SCOPUS:85191747733
SN - 2504-446X
VL - 8
JO - Drones
JF - Drones
IS - 4
M1 - 141
ER -