Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
Application of Differential Evolution for Adjusting the Parameters of the LQR to a Quadrotor
Submission Author:
Laura Ribeiro , MG , Brazil
Co-Authors:
Laura Ribeiro, Aniel Morais, Gabriela Vieira Lima, Kenji Fabiano Ávila Okada
Presenter: Laura Ribeiro
doi://10.26678/ABCM.COBEM2023.COB2023-1374
Abstract
This work proposes an innovative approach that uses Differential Evolution (DE), an evolutionary algorithm, to adjust the parameters of the Q and R matrices that describe the Linear Quadratic Regulator (LQR) for the controller of a quadrotor, an Unmanned Aerial Vehicle (UAV). This paper presents the modeling, control system, and comparison of the results of eleven different techniques using MATLAB software with simulations. In addition, this study highlights the importance and benefit of an adequate control system for this type of UAV, owing to the high demand for the quality and reliability of these products, aiming to decrease as much as possible the number of accidents and reduce financial and environmental damage. The differential evolution algorithm application proved to be challenging, but the development and results were successful, asserting its applicability and effectiveness.
Keywords
Differential Evolution, Quadrotor, LQR controller, Unmaned Aerial Vehicle, Genetic Algorithms
