Optimization of quaternion based on hybrid PID and Pw control

The aim of this article is to present an optimization of full non-linear quaternion based on hybrid control scheme using Genetic Algorithm (GA). A wider objective is used to find novel solutions to design hybrid controller based on PID and Pω control so that system functionality and performance may...

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Bibliographic Details
Main Authors: Balya, Darohini, M. F., Abas, Pebrianti, Dwi, Hamzah, Ahmad, M. H., Ariff, M. R., Arshad
Format: Conference or Workshop Item
Language:English
English
Published: 2019
Subjects:
Online Access:http://umpir.ump.edu.my/id/eprint/26819/
http://umpir.ump.edu.my/id/eprint/26819/1/74.%20Optimization%20of%20quaternion%20based%20on%20hybrid%20PID.pdf
http://umpir.ump.edu.my/id/eprint/26819/2/74.1%20Optimization%20of%20quaternion%20based%20on%20hybrid%20PID.pdf
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Summary:The aim of this article is to present an optimization of full non-linear quaternion based on hybrid control scheme using Genetic Algorithm (GA). A wider objective is used to find novel solutions to design hybrid controller based on PID and Pω control so that system functionality and performance may be compromised. In the presented approach both the quadrotor’s attitude model and the proposed hybrid control algorithm have been implemented in the fully quaternion space without any transformations or conversion and calculations in the Euler’s angles. In this paper, the optimized quaternion with fitness function composed of