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, all FTSM controllers’ parameters for… More >
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