1. Trajectory Tracking Active Disturbance Rejection Control of the Unmanned Helicopter and Its Parameters Tuning
- Author
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Suiyuan Shen and Jinfa Xu
- Subjects
linear/nonlinear hybrid control ,active disturbance rejection control ,0209 industrial biotechnology ,Disturbance (geology) ,General Computer Science ,Computer science ,General Engineering ,02 engineering and technology ,Active disturbance rejection control ,TK1-9971 ,020901 industrial engineering & automation ,Robustness (computer science) ,Control theory ,Control system ,0202 electrical engineering, electronic engineering, information engineering ,Trajectory ,Climb ,020201 artificial intelligence & image processing ,General Materials Science ,Electrical engineering. Electronics. Nuclear engineering ,Robust control ,Unmanned helicopter ,control parameter tuning - Abstract
To solve the problem that the trajectory tracking control system of the unmanned helicopter is limited by the accuracy of the physical model (parameters and dynamic characteristics) and external disturbance of the unmanned helicopter, this paper designs a trajectory tracking control system of the unmanned helicopter based on the linear/nonlinear hybrid Active Disturbance Rejection Control (ADRC). At the same time, this paper proposes a method for tuning the controller parameters based on the Bacterial Foraging Optimization-Flower Pollination Algorithm (BFO-FPA). Finally, the simulation test of spiral climb and “8”-figure climb is applied to verify the controller’s performance. The results show that the controller proposed in this paper can effectively overcome the influence of the unmanned helicopter’s internal and external disturbance, and the controller has the advantages of strong anti- disturbance ability and strong robustness. Simultaneously, the optimization algorithm can obtain the optimal global solution, and can improve the controller’s performance. more...
- Published
- 2021
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