Journal of Guangxi Normal University(Natural Science Edition) ›› 2018, Vol. 36 ›› Issue (4): 12-19.doi: 10.16088/j.issn.1001-6600.2018.04.002

Previous Articles     Next Articles

Study of Seeker Optimization Algorithm with Inertia TermSelf-tuning to Attitude Stability of Quadrotor UAV

TANG Tang1, WEI Chengyun2, LUO Xiaoshu1*, QIU Senhui1   

  1. 1.College of Electronic Engineering,Guangxi Normal University, Guilin Guangxi 541004, China;
    2.Guilin Feiyu Science and Technology Incorporated Company, Guilin Guangxi 541004, China
  • Received:2017-10-23 Published:2018-10-20

PDF (PC)

189

Abstract: In order to improve the effectiveness and accuracy of the control system and to solve the shortcomings such as too many parameters and failing to update the tuning of these control parameters timely of the nonlinear active disturbance rejection control, this paper puts forward a kind of attitude stability control method of the combination of seeker optimization algorithm with inertia term and active disturbance rejection control. The methods of inertia coefficient about the step and direction of searching are modified to achieve quadrotor UAV’s attitude control during the process disturbed flight. The simulation experiment analysis shows that when compared with the seeker optimization algorithm parameters self-tuning active disturbance rejection control and the active disturbance rejection control without self-tuning, this new control method improves the performance of the dynamic response, anti-disturbance and robustness, which has practical value to improve the attitude stability control of quadrotor UAV.

Key words: quadrotor unmanned aerial vehicle, active disturbance rejection control, seeker optimization algorithm, anti-disturbance, robustness

CLC Number: 

  • TP273.2
[1] 钟海鑫, 罗晓曙, 赵帅,等. 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[J]. 广西师范大学学报(自然科学版), 2016, 34(4):85-92.
[2] 钟海鑫, 丘森辉, 罗晓曙,等. 基于附加惯性项BP神经网络的四旋翼无人机姿态控制研究[J]. 广西师范大学学报(自然科学版), 2017, 35(2):24-31.
[3] NIU T, XIONG H, ZHAO S. Based on ADRC UAV longitudinal pitching Angle control research[C]// 2016 IEEE Information Technology, Networking, Electronic and Automation Control Conference. Piscataway NJ: IEEE Press, 2016:21-25.
[4] XIA G Y, LIU Z H. Quadrotor unmanned helicopter attitude control based on improved ADRC[C]// Guidance, Navigation and Control Conference. Piscataway NJ: IEEE Press, 2015:916-921.
[5] 窦景欣, 孔祥希, 闻邦椿. 四旋翼姿态的反步滑模自抗扰控制及稳定性[J]. 东北大学学报(自然科学版), 2016, 37(10):1415-1420.
[6] LI J, LI R, ZHENG H. Quadrotor modeling and control based on linear active disturbance rejection control[C]// Control Conference. Piscataway NJ: IEEE Press, 2016:10651-10656.
[7] CHENG P, TIAN Y, YUE B, et al. ADRC trajectory tracking control based on PSO algorithm for a quad-rotor[C]// Industrial Electronics and Applications. Piscataway NJ: IEEE Press, 2013:800-805.
[8] JIANG P, WANG P. Parameters optimization of active disturbance rejection controller with genetic algorithm for cascade speed control system[C]// Fourth International Conference on Intelligent Computation Technology and Automation. Shenzhen: IEEE Computer Society, 2011:464-467.
[9] GENG Q, TIAN P. The ADRC design for UAV longitudinal channel and its parameter optimization based on ACO[C]// IEEE International Conference on Control and Automation. Piscataway NJ: IEEE Press, 2013:373-377.
[10] HUANG Y, FEI Q. Clonal selection algorithm based optimization of the ADRC parameters designed to control UAV longitudinal channel[C]// IEEE International Conference on Control System, Computing and Engineering. Piscataway NJ: IEEE Press, 2016:448-452.
[11] DAIC, CHEN W, ZHU Y. Seeker optimization algorithm[C]// International Conference on Computational Intelligence and Security. Piscataway NJ: IEEE Press, 2006:225-229.
[12] BOUABDALLA H S, SIEGWART R. Backstepping and sliding-mode techniques applied to an indoor micro quadrotor[C]// IEEE International Conference on Robotics and Automation. Piscataway NJ: IEEE Press, 2006:2247-2252.
[13] 王俊生, 马宏绪, 蔡文澜,等. 基于ADRC的小型四旋翼无人直升机控制方法研究[J]. 弹箭与制导学报, 2008, 28(3):31-34.
[14] 韩京清. 从PID技术到“自抗扰控制”技术[J]. 控制工程, 2002, 9(3):13-18.
[15] 韩京清. 自抗扰控制技术[M]. 北京:国防工业出版社, 2008.
[1] LIU Xin, LUO Xiaoshu, ZHAO Shulin. Active Disturbance Rejection Control of Three-AxisStabilized Platform Based on BP Neural Network [J]. Journal of Guangxi Normal University(Natural Science Edition), 2020, 38(2): 115-120.
[2] ZOU Yanli, WANG Yang, LIU Shusheng, YAO Fei. Study of Cascading Failure in the Grid under the Capacity Load Model with Neighbors Degree Information [J]. Journal of Guangxi Normal University(Natural Science Edition), 2019, 37(4): 27-36.
[3] XU Yuanjing, HU Weiping. Identification of Pathological Voice of Different Levels Based on Random Forest [J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(4): 34-41.
[4] TANG Tang,LUO Xiaoshu,Lü Wande,LIU Xin. Sliding Mode Active Disturbance Rejection Control of Quadrotor Unmanned Aerial Vehicle [J]. Journal of Guangxi Normal University(Natural Science Edition), 2018, 36(2): 56-62.
[5] ZHONG Haixin, QIU Senhui, LUO Xiaoshu, TANG Tang, YANG Li, ZHAO Shuai. Study of Applying BP Neural Network with Inertia Term Self-tuningto Attitude Stability of Quadrotor Unmanned Aerial Vehicle [J]. Journal of Guangxi Normal University(Natural Science Edition), 2017, 35(2): 24-31.
[6] 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.
[7] CHEN Jin, LUO Xiaoshu. A Novel QPSK Signal Demodulation Method Based on Wavelet Transform [J]. Journal of Guangxi Normal University(Natural Science Edition), 2016, 34(2): 35-45.
[8] ZHANG Jun-jian, YANG Xiu-qin. Minimum Weighted KS Estimate [J]. Journal of Guangxi Normal University(Natural Science Edition), 2012, 30(4): 54-58.
[9] XIONG Shun-qing, ZHOU Wei-hong. New Digital Watermarking Algorithm Based on NSCT and SVD [J]. Journal of Guangxi Normal University(Natural Science Edition), 2011, 29(2): 195-199.
[10] LI Yong, JIA Zhen. Applications of Discrete Chaotic Systems in Secure Communication [J]. Journal of Guangxi Normal University(Natural Science Edition), 2011, 29(1): 15-19.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Guangxi Normal University(Natural Science Edition), All Rights Reserved.
Tel: 0773-5857325　E-mail: gxsdzkb@mailbox.gxnu.edu.cn
Powered by Beijing Magtech Co. Ltd