PARAMETER OPTIMIZATION OF LQR CONTROLLER APPLIED TO THREE DEGREES OF FREEDOM SYSTEM WITH HYBRID APPROACH

Abstract

There have been numerous studies on the control of quadcopters. These studies mainly aim to control the flight behavior of quadcopters. To achieve this, researchers have been developing new tools and testing new methods. One of the developed tools is the 3-DOF Hover system, which enables researchers to analyze the flight behaviors of quadcopters, such as roll, pitch, and yaw, even in a physically limited area or only in a computer environment. The control method applied in the control of the 3-DOF Hover system has been determined by the manufacturer as Linear-Quadratic Regulator (LQR). LQR has control parameters that are complex to calculate. This complex calculation process creates an optimization problem. Beyond controlling the 3-DOF Hover system using LQR, this study focuses on calculating the complex control parameters of LQR using optimization algorithms when controlling a dynamic system with LQR. This study includes well-known algorithms such as Genetic Algorithm (GA), Particle Swarm Optimization (PSO), and Simulated Annealing (SA), as well as an innovative approach known Gray Wolf Optimization (GWO). These algorithms were selected due to their proven effectiveness in various studies. Based on the results obtained from these algorithms, a hybrid algorithm incorporating SA and GWO is proposed. The aim of this hybrid algorithm is to combine the advantages of different methods and achieve a more effective and efficient optimization process. The mentioned hybrid algorithm, obtained by combining SA and GWO, is named hSA-GWO. This hSA-GWO is compared with traditional algorithms, and the comparison results show that the proposed hybrid algorithm can be used as an alternative and competitive method for controlling the flight behaviors of quadcopters.