Improved GA-PI Technique for Non-Linear Dynamic Modelling of a UAV

Abstract

Recent advances in sensor technologies, actuators, and power storage have opened the door to the development of crewless flying vehicles. The information in this paper is on quadrotor modeling and control. As a result, in this study, a mathematical analysis of the Quad-rotor Unmanned Aerial Vehicle (UAV) is first developed, which is on the basis of the Euler-Newton approach of equating motion and moment forces. Second, a Robust Proportional Integral (PI) system is used to robust the quad-rotor UAV's height and attitude. The PI coefficients are optimized using the Improved Genetic Algorithm (Improve-GA) technique to generate an acceptable outcome for the system. After running several simulations, it was determined that the PI controller is able to monitor the appropriate reference values. According to experimental data, the suggested improved GA-PI controller quickly and effectively stabilized a Quad-rotor UAV, and its response time and settling time are reasonable for attitude stabilization control applications.