Genetic algorithm-enhanced linear quadratic control for balancing bicopter system with non-zero set point
Bicopter is an unmanned aerial vehicle (UAV) with the advantage of saving energy consumption. However, the unique two rotors design presents a challenge in designing a controller that achieves good stability, fast settling time, and the ability to overcome oscillations simultaneously. This article p...
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| Format: | Article |
| Language: | English |
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Indonesian Institute of Sciences
2023-12-01
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| Series: | Journal of Mechatronics, Electrical Power, and Vehicular Technology |
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| Online Access: | https://mev.brin.go.id/mev/article/view/762 |
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| author | Esa Apriaskar Dhidik Prastiyanto Aryo Baskoro Utomo Akhyar Abdillah Manaf Ilya Amelia Dimas Alfarizky Ilham Viyola Lokahita Bilqis Chonlatee Photong |
| author_facet | Esa Apriaskar Dhidik Prastiyanto Aryo Baskoro Utomo Akhyar Abdillah Manaf Ilya Amelia Dimas Alfarizky Ilham Viyola Lokahita Bilqis Chonlatee Photong |
| author_sort | Esa Apriaskar |
| collection | DOAJ |
| description | Bicopter is an unmanned aerial vehicle (UAV) with the advantage of saving energy consumption. However, the unique two rotors design presents a challenge in designing a controller that achieves good stability, fast settling time, and the ability to overcome oscillations simultaneously. This article proposes a new control method for bicopter that uses a genetic algorithm optimization approach in the linear quadratic (LQ-GA) control method. The GA is used to search for the best weighting matrix parameters, Q and R, in the Linear Quadratic (LQ) control scheme. The proposed control method was tested on a balancing bicopter test platform with an input in the form of difference in pulse width modulation (PWM) signals for both rotors and an output in the form of roll angle. The control system was evaluated based on the stability of the transient response and the generated control signal. The results of the tests showed that the proposed LQ-GA control method has better stability, faster settling time, and smaller overshoot than the existing PI and standard LQ control methods. Therefore, the proposed LQ-GA control method is the most suitable for use in a balancing bicopter system with a non-zero setpoint. |
| format | Article |
| id | doaj-art-1f8770aadef449bc812cebea803a3623 |
| institution | DOAJ |
| issn | 2087-3379 2088-6985 |
| language | English |
| publishDate | 2023-12-01 |
| publisher | Indonesian Institute of Sciences |
| record_format | Article |
| series | Journal of Mechatronics, Electrical Power, and Vehicular Technology |
| spelling | doaj-art-1f8770aadef449bc812cebea803a36232025-08-20T03:13:00ZengIndonesian Institute of SciencesJournal of Mechatronics, Electrical Power, and Vehicular Technology2087-33792088-69852023-12-0114210511310.14203/j.mev.2023.v14.105-113325Genetic algorithm-enhanced linear quadratic control for balancing bicopter system with non-zero set pointEsa Apriaskar0Dhidik Prastiyanto1Aryo Baskoro Utomo2Akhyar Abdillah Manaf3Ilya Amelia4Dimas Alfarizky Ilham5Viyola Lokahita Bilqis6Chonlatee Photong7Department of Electrical Engineering, Faculty of Engineering, Universitas Negeri SemarangDepartment of Electrical Engineering, Faculty of Engineering, Universitas Negeri SemarangDepartment of Electrical Engineering, Faculty of Engineering, Universitas Negeri SemarangDepartment of Electrical Engineering, Faculty of Engineering, Universitas Negeri SemarangDepartment of Electrical Engineering, Faculty of Engineering, Universitas Negeri SemarangDepartment of Electrical Engineering, Faculty of Engineering, Universitas Negeri SemarangDepartment of Electrical Engineering, Faculty of Engineering, Universitas Negeri SemarangFaculty of Engineering, Mahasarakham University, ThailandBicopter is an unmanned aerial vehicle (UAV) with the advantage of saving energy consumption. However, the unique two rotors design presents a challenge in designing a controller that achieves good stability, fast settling time, and the ability to overcome oscillations simultaneously. This article proposes a new control method for bicopter that uses a genetic algorithm optimization approach in the linear quadratic (LQ-GA) control method. The GA is used to search for the best weighting matrix parameters, Q and R, in the Linear Quadratic (LQ) control scheme. The proposed control method was tested on a balancing bicopter test platform with an input in the form of difference in pulse width modulation (PWM) signals for both rotors and an output in the form of roll angle. The control system was evaluated based on the stability of the transient response and the generated control signal. The results of the tests showed that the proposed LQ-GA control method has better stability, faster settling time, and smaller overshoot than the existing PI and standard LQ control methods. Therefore, the proposed LQ-GA control method is the most suitable for use in a balancing bicopter system with a non-zero setpoint.https://mev.brin.go.id/mev/article/view/762balancing bicoptergenetic algorithmlinear quadraticroll anglenon-zero set point |
| spellingShingle | Esa Apriaskar Dhidik Prastiyanto Aryo Baskoro Utomo Akhyar Abdillah Manaf Ilya Amelia Dimas Alfarizky Ilham Viyola Lokahita Bilqis Chonlatee Photong Genetic algorithm-enhanced linear quadratic control for balancing bicopter system with non-zero set point Journal of Mechatronics, Electrical Power, and Vehicular Technology balancing bicopter genetic algorithm linear quadratic roll angle non-zero set point |
| title | Genetic algorithm-enhanced linear quadratic control for balancing bicopter system with non-zero set point |
| title_full | Genetic algorithm-enhanced linear quadratic control for balancing bicopter system with non-zero set point |
| title_fullStr | Genetic algorithm-enhanced linear quadratic control for balancing bicopter system with non-zero set point |
| title_full_unstemmed | Genetic algorithm-enhanced linear quadratic control for balancing bicopter system with non-zero set point |
| title_short | Genetic algorithm-enhanced linear quadratic control for balancing bicopter system with non-zero set point |
| title_sort | genetic algorithm enhanced linear quadratic control for balancing bicopter system with non zero set point |
| topic | balancing bicopter genetic algorithm linear quadratic roll angle non-zero set point |
| url | https://mev.brin.go.id/mev/article/view/762 |
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