Conclusions and Future Work
9.2 Future Work
There are many possible areas of future work for the research carried out in this thesis. One possible area of work is to test the controllers on the real physical vehicles instead of using simulations, as simulations are limited in that they cannot give a true representation of a system with 100% accuracy. Other control laws could also be developed, as there are many other control techniques other than PID and Sliding Mode. It would also be interesting to design controllers for the helicopter that take into account the interactions between the subsystems, which were assumed to be independent in the control design. Other interesting areas of future work would be to test these controllers on larger vehicles and analyse their ability to reject disturbances.
Chapter 9 Conclusions and Future Work
163 In terms of the search algorithms, there is an endless list of variations on the search algorithms tested in this thesis that could be tested for further research. For example, different combinations of algorithms could be used to develop different types of hybrid algorithms. Also, the Genetic Algorithms could have varying mutation rates, or could be modified in terms of tournament size (Tournament Selection), the number of elite solutions in each generation (Elitist), and the crossover method. Another possible area of future work is to investigate the effect of varying the population size. i.e. using more vehicles. Although this may be impractical in some cases, the simulations can easily be extended to incorporate more vehicles.
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