Spotted Hyena Optimizer enhances the performance of Fractional-Order PD controller for Tri-copter drone
Alaq F. Hasan, Nabil Kadhim Al-Shamaa, Suha S. Husain, Amjad J. Humaidi, Ayad Q. Al-Dujaili
Abstract
Abstract In this study, nonlinear control design is presented for trajectory tracking of Tricopter system. A Fractional Order Proportional Derivative (FOPD) controller has been developed. The performance of controlled Tri-copter system can be enhanced by suggesting modern optimization technique to optimally tune the design parameters of FOPD controller. The Spotted Hyena Optimizer (SHO) is proposed as an optimization method for optimal tuning of FOPD's parameters. To verify the performance of controlled Tricopter system based on optimal SHO-based FOPD controller, computer simulation is implemented via MATLAB codes. Moreover, a comparison study between SHO and Particle Swarm Optimization (PSO) has been made in terms of robustness and transient behavior characteristics of FOPD controller.