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Modified GA Tuning IPD Control for a Single Tilt Tri-Rotors UAV

Khoa Huu Tran(1*)

(1) Faculty of Electrical and Electronics Engineering, Ton Duc Thang University, Viet Nam
(*) Corresponding author



In this article, the viability of a modified Genetic Algorithm (GA) is practiced to find the optimized Integral-Proportional-Derivative (I-PD) controller parameters. The benefits of the modified GA are generated and updated the new elite parameters in the short iteration of GA process, through that it can minimize the fitness function Integral of Absolute Error (IAE). This optimization methodology is then applied to a novel single tilt Tri-rotors attitude models. The proposed controller has demonstrated performance in the fast response, stability and less error.
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Modified GA; IPD Control; Tri-Rotors; IAE

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