Title | ||
---|---|---|
Multi-Objective Design Optimization of a Hexa-Rotor With Disturbance Rejection Capability Using an Evolutionary Algorithm. |
Abstract | ||
---|---|---|
In this paper, a methodology to design a hexa-rotor with the capability to reject disturbances using tilted propellers is presented. The methodology proposes the use of a robustness index as a measurement of the capability to reject external disturbances. Moreover, an energy index is proposed as a measurement of the energy consumed by the hexa-rotor in hovering. It is shown that the robustness index is opposed to this energy index. Therefore, a multi-objective optimization problem is proposed in which the objective functions are the robustness index and the energy index. This problem is solved with the help of an evolutionary algorithm with a Pareto approach. Three solutions are selected from the Pareto front and tested with a proposed controller in order to show the feasibility of the methodology. Finally, the design that has a better tradeoff between the two objectives is simulated with Gaussian noise and with the maximum disturbance that is capable of rejecting. |
Year | DOI | Venue |
---|---|---|
2018 | 10.1109/ACCESS.2018.2878314 | IEEE ACCESS |
Keywords | Field | DocType |
Design optimization,evolutionary algorithms,aerial robotics,multi-objective optimization,robust design | Control theory,Evolutionary algorithm,Computer science,Control theory,Evolutionary computation,Robustness (computer science),Multi-objective optimization,Gaussian noise,Optimization problem,Pareto principle,Distributed computing | Journal |
Volume | ISSN | Citations |
6 | 2169-3536 | 0 |
PageRank | References | Authors |
0.34 | 0 | 3 |
Name | Order | Citations | PageRank |
---|---|---|---|
Victor Manuel Arellano-Quintana | 1 | 0 | 0.68 |
Edgar Alfredo Portilla-Flores | 2 | 20 | 9.90 |
E. A. Merchan-Cruz | 3 | 14 | 2.36 |