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

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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

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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
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