TY - JOUR
T1 - Multi-Objective Design Optimization of a Hexa-Rotor with Disturbance Rejection Capability Using an Evolutionary Algorithm
AU - Arellano-Quintana, Victor Manuel
AU - Portilla-Flores, Edgar Alfredo
AU - Merchan-Cruz, Emmanuel Alejandro
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
KW - Design optimization
KW - aerial robotics
KW - evolutionary algorithms
KW - multi-objective optimization
KW - robust design
UR - http://www.scopus.com/inward/record.url?scp=85055701279&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2018.2878314
DO - 10.1109/ACCESS.2018.2878314
M3 - Artículo
SN - 2169-3536
VL - 6
SP - 69064
EP - 69074
JO - IEEE Access
JF - IEEE Access
M1 - 8513827
ER -