Fine-Tuning of Feedback Gain Control for Hover Quad Copter Rotors by Stochastic Optimization Methods

Abstract

Three degree of freedom (3 DOF) Hover Quad Copter (HQC) platforms are implemented for various missions in diverse scales from the micro to macro platforms. As HQC platforms scale down, micro platform requires rather robust and effective control techniques. This study investigates applicability of some stochastic optimization methods for tuning feedback gain control of HQC rotors and compares optimization results with results of linear quadratic regulator (LQR) method that has been widely used analytical method for optimal feedback gain control of HQCs. This study considers the utilization of two stochastic methods for tuning of HQCs. These methods are stochastic multi-parameter divergence optimization method (SMDO) and discrete stochastic optimization method (DSO). These methods are employed to optimize feedback gain coefficients of an experimental HQC test platform. Simulation and experimental results of SMDO and DSO methods are reported and compared with results of LQR method.