Home / Advanced Search

  • Title/Keywords

  • Author/Affliations

  • Journal

  • Article Type

  • Start Year

  • End Year

Update SearchingClear
  • Articles
  • Online
Search Results (6)
  • Open Access


    Path Planning of Quadrotors in a Dynamic Environment Using a Multicriteria Multi-Verse Optimizer

    Raja Jarray1, Mujahed Al-Dhaifallah2,*, Hegazy Rezk3,4, Soufiene Bouallègue1,5

    CMC-Computers, Materials & Continua, Vol.69, No.2, pp. 2159-2180, 2021, DOI:10.32604/cmc.2021.018752

    Abstract Paths planning of Unmanned Aerial Vehicles (UAVs) in a dynamic environment is considered a challenging task in autonomous flight control design. In this work, an efficient method based on a Multi-Objective Multi-Verse Optimization (MOMVO) algorithm is proposed and successfully applied to solve the path planning problem of quadrotors with moving obstacles. Such a path planning task is formulated as a multicriteria optimization problem under operational constraints. The proposed MOMVO-based planning approach aims to lead the drone to traverse the shortest path from the starting point and the target without collision with moving obstacles. The vehicle… More >

  • Open Access


    Grey Wolf Optimization Based Tuning of Terminal Sliding Mode Controllers for a Quadrotor

    Rabii Fessi1, Hegazy Rezk2,3,*, Soufiene Bouallègue1,4

    CMC-Computers, Materials & Continua, Vol.68, No.2, pp. 2265-2282, 2021, DOI:10.32604/cmc.2021.017237

    Abstract The research on Unmanned Aerial Vehicles (UAV) has intensified considerably thanks to the recent growth in the fields of advanced automatic control, artificial intelligence, and miniaturization. In this paper, a Grey Wolf Optimization (GWO) algorithm is proposed and successfully applied to tune all effective parameters of Fast Terminal Sliding Mode (FTSM) controllers for a quadrotor UAV. A full control scheme is first established to deal with the coupled and underactuated dynamics of the drone. Controllers for altitude, attitude, and position dynamics become separately designed and tuned. To work around the repetitive and time-consuming trial-error-based procedures,… More >

  • Open Access


    Multi-Model Fuzzy Formation Control of UAV Quadrotors

    Abdul-Wahid A. Saif1, Mohammad Ataur-Rahman1, Sami Elferik1, Muhammad F. Mysorewala1, Mujahed Al-Dhaifallah1,*, Fouad Yacef2

    Intelligent Automation & Soft Computing, Vol.27, No.3, pp. 817-834, 2021, DOI:10.32604/iasc.2021.015932

    Abstract In this paper, the formation control problem of a group of unmanned air vehicle (UAV) quadrotors is solved using the Takagi–Sugeno (T–S) multi-model approach to linearize the nonlinear model of UAVs. The nonlinear model sof the quadrotor is linearized first around a set of operating points using Taylor series to get a set of local models. Our approach’s novelty is in considering the difference between the nonlinear model and the linearized ones as disturbance. Then, these linear models are interpolated using the fuzzy T–S approach to approximate the entire nonlinear model. Comparison of the nonlinear… More >

  • Open Access


    Control Strategy for a Quadrotor Based on a Memetic Shuffled Frog Leaping Algorithm

    Nour Ben Ammar1, Hegazy Rezk2,3,*, Soufiene Bouallègue1,4

    CMC-Computers, Materials & Continua, Vol.67, No.3, pp. 4081-4100, 2021, DOI:10.32604/cmc.2021.015681

    Abstract This work presents a memetic Shuffled Frog Leaping Algorithm (SFLA) based tuning approach of an Integral Sliding Mode Controller (ISMC) for a quadrotor type of Unmanned Aerial Vehicles (UAV). Based on the Newton–Euler formalism, a nonlinear dynamic model of the studied quadrotor is firstly established for control design purposes. Since the main parameters of the ISMC design are the gains of the sliding surfaces and signum functions of the switching control law, which are usually selected by repetitive and time-consuming trials-errors based procedures, a constrained optimization problem is formulated for the systematically tuning of these… More >

  • Open Access


    Ziegler–Nichols Customization for Quadrotor Attitude Control under Empty and Full Loading Conditions

    Ivan Paulo Canal1,*, Manuel Martin Pérez Reimbold2, Maurício de Campos2

    CMES-Computer Modeling in Engineering & Sciences, Vol.125, No.1, pp. 65-75, 2020, DOI:10.32604/cmes.2020.010741

    Abstract An aircraft quadrotor is a complex control system that allows for great flexibility in flight. Controlling multirotor aerial systems such as quadrotors is complex because the variables involved are not always available, known, and accurate. The inclusion of payload changes the dynamic characteristics of the aircraft, making it necessary to adapt the control system for this situation. Among the various control methods that have been investigated, proportional-integralderivative (PID) control offers good results and simplicity of application; however, achieving stability and high performance is challenging, with the most critical task being tuning the controller gains. The… More >

  • Open Access


    The Design of a TLD and Fuzzy-PID Controller Based on the Autonomous Tracking System for Quadrotor Drones

    Pi-Yun Chen, Guan-Yu Chen*

    Intelligent Automation & Soft Computing, Vol.26, No.3, pp. 489-500, 2020, DOI:10.32604/iasc.2020.013925

    Abstract The objective of this paper is to design a new Quadrotor Autonomous Following System, and the main three contents are as follows: Object tracking, quadrotor attitude determination and the controller. The image tracking portion performs object detection and keeps tracking by way of the Tracking-Learning-Detection (TLD), and gets the information of the target motion estimation positions. The attitude determination of the Quadrotor has adopted the Inertial Navigation System and sensors of the accelerometer, gyroscope and electronic compass, etc. for retrieving the information. The Kalman filter is also utilized for estimating the current values in order More >

Displaying 1-10 on page 1 of 6. Per Page