The Effects of PSO Parameters on an LQR Controlled Quadrotor System Gain

EasyChair Preprint 6684

Abstract

Linear Quadratic Regulator (LQR) is one of the robust and convenient controllers which are mostly used in multiple-input multiple-output (MIMO) systems. Quadrotors are difficult to control and they are non-linear MIMO systems. Although LQR controllers are the controllers that can handle nonlinear MIMO systems, it is quite difficult to determine the parameters in other words, the weight matrices that will bring the controller to its optimal performance. Optimization of the weight matrices can be achieved by the Particle Swarm Optimization (PSO) method. In this study, the system gain matrix is obtained by means of a PSO algorithm for an LQR controlled trajectory tracking quadrotor that was designed in our previous work. The effects of changing the parameters in the PSO algorithm on the system gain and trajectory tracking were investigated.

Keyphrases: Dört pervaneli, LQR, PSO algoritması, en iyilenme

@booklet{EasyChair:6684,
  author    = {Sevinç Günsel and Şeref Naci Engin},
  title     = {The Effects of PSO Parameters on an LQR Controlled Quadrotor System Gain},
  howpublished = {EasyChair Preprint 6684},
  year      = {EasyChair, 2021}}