基于改进精英蚁群系统算法的四旋翼无人机 姿态控制研究

doi:10.16088/j.issn.1001-6600.2016.04.013

Abstract

Abstract: The altitude of Quadrotor Unmanned Aerial Vehicle (QUAV) is easy to be disturbed by the factors such as the external air flow during the flight, which leads to the instability of the flight attitude and impacts the quality of the preset flight mission. Aiming at the characteristics of the traditional PID control failing to adaptively adjust the control parameters, firstly, this paper studies the method of the combination between elitist ant colony system algorithm and PID control, and then proposes a method of improved elitist ant system algorithm to combine with PID control, respectively, to achieve QUAV’s altitude control during the flight under disturbance, finally the simulation experiment comparison is carried out. Simulation experimental results show that the improved elitist ant colony system algorithm that optimizes the parameters of PID control can not only get optimum valve in a short time and improve the speed of convergence, but also have a better performance of anti-disturbance and robustness.

Key words: PID control, elitist ant colony system algorithm, anti-disturbance, robustness

CLC Number:

TP273.2

ZHONG Haixin, LUO Xiaoshu, ZHAO Shuai, YANG Li, TANG Tang. Research on Attitude Stability Control of Quadrotor Unmanned Aerial Vehicle Based on Improved Elitist Ant Colony System Algorithm[J].Journal of Guangxi Normal University(Natural Science Edition), 2016, 34(4): 85-92.

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