Desarrollo de una herramienta computacional para la sintonización de parámetros de controladores PID y SMC para el seguimiento de trayectoria de un cuadricóptero basado en algoritmos genéticos

Abstract

The procedure of setting values to the parameters of a controller is known as tuning. In the case of PID controllers, there are tuning methods proposed, for example, by Zieglers Nichols; However, when working with non-linear systems, many times a heuristic adjustment method is required. On the other hand, for the tuning of the parameters of an SMC (Sliding Mode Control) it is fundamental the knowledge that the designer has of the system. Due to the non-linear nature of the controller, SMCs are more difficult to tune. To solve this problem, it is proposed to perform a tuning of the parameters of the PID and SMC controllers for tracking a quadcopters trajectory using Genetic Algorithms. The objective of this technique is to provide a solution to a problem through the optimization of a specific criterion known as objective function. This is possible using a search space defined at the beginning of the algorithm, which evolves while the algorithm is running.