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- W4382702399 abstract "The control of quadrotor has been recognized for its difficulty due to the significance of the maneuverability, presence of nonlinearity and strong coupling of variables. The quadrotor features a sophisticated dynamic model with six degrees of freedom, making it naturally unstable. As a result, it is necessary to ensure the system stability around the intended reference state, or to adjust it, regardless the presence of internal or external disturbances. Moreover, it will be interesting to investigate the development of an efficient robust non-model-based control approach. The online Extremum Seeking (ES) optimization algorithm is a non- model approach that minimizes a cost function. It can iteratively modify controller parameters based on the change of a selected cost function to reach a local minimum. On the other hand, Proportional-Integral-Derivative (PID) controller is well known for its simple structure, good performance, and configuration even without a precise model of the controlled system. Though, it requires efficient tuning for better performance during processing. For this purpose, ES is developed in this chapter to automate the tuning of the PID controller. Furthermore, the ES tuned PI-D controller is compared to a different tuned PID controller that uses particle swarm optimization (PSO) to predict the PID parameters. The simulation results show that the ES-PID controller provides better stability, real- time optimization, and consumes less time to reach the optimal value as compared to the PSO-PID controller." @default.
- W4382702399 created "2023-07-01" @default.
- W4382702399 creator A5063091955 @default.
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- W4382702399 date "2023-01-01" @default.
- W4382702399 modified "2023-09-25" @default.
- W4382702399 title "Extremum Seeking Based PID Control of Quadrotor System" @default.
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- W4382702399 doi "https://doi.org/10.1007/978-3-031-26564-8_17" @default.
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