ACO Based Optimal Integral Sliding Mode Controller Design for a New Reconfigurable Unmanned Aerial Vehicle
摘要
The Optimized controller is established for controlling the reconfigurable UAV, which has been designed to enable various morphologies whilst keeping the performance of a standard quadrotor. These design adjustments allow the quadrotor to negotiate restricted spaces horizontally or vertically while also altering its speed to the task and surroundings and enhancing energy autonomy. The method of Ant Colony-based Optimization determines the ISM controller gains and ensures optimal exchange between errors tracking and energy consumption.