{"id":"https://openalex.org/W4410887094","doi":"https://doi.org/10.1109/syscon64521.2025.11014809","title":"Enhancing UAV Altitude Control: PID Tuning with Reinforcement Learning and Genetic Algorithm","display_name":"Enhancing UAV Altitude Control: PID Tuning with Reinforcement Learning and Genetic Algorithm","publication_year":2025,"publication_date":"2025-04-07","ids":{"openalex":"https://openalex.org/W4410887094","doi":"https://doi.org/10.1109/syscon64521.2025.11014809"},"language":"en","primary_location":{"id":"doi:10.1109/syscon64521.2025.11014809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon64521.2025.11014809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International systems Conference (SysCon)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5117770483","display_name":"Mahrokh Hosseinkhani Hezaveh","orcid":null},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Mahrokh Hosseinkhani Hezaveh","raw_affiliation_strings":["Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada"],"affiliations":[{"raw_affiliation_string":"Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076944820","display_name":"Mohammad Tayefe Ramezanlou","orcid":"https://orcid.org/0000-0001-8195-6159"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mohammad T. Ramezanlou","raw_affiliation_strings":["Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada"],"affiliations":[{"raw_affiliation_string":"Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018347314","display_name":"Howard M. Schwartz","orcid":"https://orcid.org/0000-0002-4489-5892"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Howard Schwartz","raw_affiliation_strings":["Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada"],"affiliations":[{"raw_affiliation_string":"Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada","institution_ids":["https://openalex.org/I67031392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017839977","display_name":"Ioannis Lambadaris","orcid":"https://orcid.org/0000-0003-4686-9433"},"institutions":[{"id":"https://openalex.org/I67031392","display_name":"Carleton University","ror":"https://ror.org/02qtvee93","country_code":"CA","type":"education","lineage":["https://openalex.org/I67031392"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ioannis Lambadaris","raw_affiliation_strings":["Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada"],"affiliations":[{"raw_affiliation_string":"Carleton University,Department of Systems and Computer Engineering,Ottawa,Canada","institution_ids":["https://openalex.org/I67031392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5117770483"],"corresponding_institution_ids":["https://openalex.org/I67031392"],"apc_list":null,"apc_paid":null,"fwci":1.2656,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.79838578,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11081","display_name":"Advanced Control Systems Design","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7580209970474243},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.725282609462738},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5898907780647278},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5235821008682251},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.5013008117675781},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4702034592628479},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3959520757198334},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.30794304609298706},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.23167431354522705},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20629721879959106},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.20004531741142273}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7580209970474243},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.725282609462738},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5898907780647278},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5235821008682251},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.5013008117675781},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4702034592628479},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3959520757198334},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30794304609298706},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.23167431354522705},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20629721879959106},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.20004531741142273}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/syscon64521.2025.11014809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/syscon64521.2025.11014809","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International systems Conference (SysCon)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2057949975","https://openalex.org/W2087232315","https://openalex.org/W2140246545","https://openalex.org/W2324665071","https://openalex.org/W2885282028","https://openalex.org/W2921115668","https://openalex.org/W2922297121","https://openalex.org/W2980070341","https://openalex.org/W3010307374","https://openalex.org/W3022090028","https://openalex.org/W3101203226","https://openalex.org/W3185464543","https://openalex.org/W4220737776","https://openalex.org/W4226162222","https://openalex.org/W4289828924","https://openalex.org/W4403391214","https://openalex.org/W6684921986","https://openalex.org/W6856036926"],"related_works":["https://openalex.org/W2002388147","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W2150958483","https://openalex.org/W2165013373","https://openalex.org/W2121097709","https://openalex.org/W2922503265","https://openalex.org/W4320922540","https://openalex.org/W82747921","https://openalex.org/W1989195983"],"abstract_inverted_index":{"This":[0,166],"paper":[1],"explores":[2],"the":[3,12,39,69,115,117,138,148,159,169,180,195],"optimization":[4,57,127,173],"of":[5,15,25,151,163,171,194],"Proportional-Integral-Derivative":[6],"(PID)":[7],"controller":[8,85,133],"gains":[9,71,93,112],"to":[10,42,67],"enhance":[11],"altitude":[13,120],"control":[14,121,177,190],"Unmanned":[16],"Aerial":[17],"Vehicle":[18],"(UAV)s,":[19],"focusing":[20],"on":[21],"achieving":[22],"precise":[23],"tracking":[24],"set":[26],"points":[27],"and":[28,45,63,109,135,140,161,189],"trajectories.":[29],"Traditional":[30],"manual":[31],"tuning":[32,131],"methods":[33,74],"often":[34],"yield":[35],"suboptimal":[36],"performance,":[37],"limiting":[38],"controller's":[40],"ability":[41],"balance":[43],"stability":[44,108],"responsiveness":[46],"under":[47],"varying":[48],"conditions.":[49],"To":[50],"address":[51],"this":[52],"limitation,":[53],"we":[54],"investigate":[55],"automated":[56],"techniques,":[58,153],"employing":[59],"Reinforcement":[60],"Learning":[61],"(RL)":[62],"Genetic":[64],"algorithm":[65],"(GA)":[66],"refine":[68],"PID":[70,130],"systematically.":[72],"These":[73],"enable":[75],"dynamic":[76],"solution":[77],"space":[78],"exploration,":[79],"identifying":[80],"parameter":[81],"combinations":[82],"that":[83,90],"maximize":[84],"performance.":[86],"Comparative":[87],"analyses":[88],"reveal":[89],"algorithmically":[91],"optimized":[92],"consistently":[94],"outperform":[95],"those":[96],"manually":[97],"tuned":[98,113],"by":[99,114],"human":[100],"operators.":[101],"The":[102,192],"results":[103],"show":[104],"significant":[105],"improvements":[106],"in":[107,157,174,185],"responsiveness.":[110],"Using":[111],"RL,":[116],"system":[118],"achieves":[119],"with":[122],"minimum":[123],"overshoot.":[124],"Integrating":[125],"advanced":[126],"approaches":[128],"into":[129],"enhances":[132],"efficiency":[134],"significantly":[136],"reduces":[137],"time":[139],"effort":[141],"required":[142],"for":[143,182],"calibration.":[144],"Experimental":[145],"validation":[146],"demonstrates":[147],"practical":[149],"potential":[150],"these":[152],"underscoring":[154],"their":[155],"effectiveness":[156],"improving":[158],"reliability":[160],"precision":[162],"aerial":[164,187],"vehicles.":[165],"study":[167],"emphasizes":[168],"role":[170],"intelligent":[172],"advancing":[175],"UAV":[176],"systems,":[178],"paving":[179],"way":[181],"broader":[183],"applications":[184],"autonomous":[186],"navigation":[188],"systems.":[191],"video":[193],"experiment":[196],"conducted":[197],"at":[198,205],"Ericsson's":[199],"5G":[200],"Autonomous":[201],"Vehicles":[202],"Lab,":[203],"located":[204],"Carleton":[206],"University,":[207],"can":[208],"be":[209],"found":[210],"here:":[211],"https://youtu.be/oH3rQRhPMGs":[212]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
