Abstract
In this paper, Active Disturbance Rejection Control (ADRC) is utilized in the attitude control of a quadrotor aircraft to address the problem of attitude destabilization in flight control caused by parameter uncertainties and external disturbances. Considering the difficulty of optimizing the parameter of ADRC, a fractional-order fuzzy particle swarm optimization (FOFPSO) algorithm is proposed to optimize the parameters of ADRC for quadrotor aircraft. Simultaneously, the simulation experiment is designed, which compares with the optimized performance of traditional particle swarm optimization (PSO), fuzzy article swarm optimization (FPSO) and adaptive genetic algorithm-particle swarm optimization (AGA-PSO). In addition, the turbulent wind field model is established to verify the disturbance rejection performance of the controller. Finally, the designed controller is deployed to the actual hardware platform by using the model-based design method. The results show that the controller has a small overshoot and stronger disturbance rejection ability after the parameters are optimized by the proposed algorithm.
Highlights
Due to its high degree of freedom, strong flexibility, strong adaptability to complex terrain and low cost, quadrotor aircrafts are often used to carry out inspection, search and rescue missions in dangerous areas or complex terrain environments
In view of the shortcomings of the traditional particle swarm optimization algorithm, such as fixed parameters, low accuracy and easy to fall into local optimal value, a fractional fuzzy particle swarm optimization algorithm is proposed in this paper to optimize the parameters of Active Disturbance Rejection Control (ADRC) by combining the characteristics of fuzzy logic and fractional order
Regarding the problem that ADRC has many parameters, it is difficult to adjust, and manual adjustment is difficult to achieve the optimal problem, this paper proposes the fractional-order fuzzy particle swarm optimization (FOFPSO) algorithm to optimize the ADRC parameters
Summary
Due to its high degree of freedom, strong flexibility, strong adaptability to complex terrain and low cost, quadrotor aircrafts are often used to carry out inspection, search and rescue missions in dangerous areas or complex terrain environments. In order to enhance the disturbance rejection ability of the attitude control of a quadrotor Unmanned Aerial Vehicle (UAV), an ADRC based on a quadrotor UAV has been designed in the literature [16,17]. In order to solve the problem of too many parameters of the ADRC controller and the difficulty of manual adjustment to achieve the optimum, a quadrotor ADRC parameter optimization algorithm based on FOFPSO is proposed in this paper. In order to verify the feasibility of the controller in the quadrotor aircraft experimental platform, this paper adopts the model-based design method, deploys the controller model on the Pixhawk hardware platform and verifies the attitude tracking and disturbance rejection performance of the controller
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