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.
Highlights
The unmanned helicopter’s trajectory tracking control system is a system for decoupling control of the multiinput/multi-output (MIMO) nonlinear system, challenging to design [1]
Humaidi et al [17] proposed two ADRC schemes for the position control of a single link flexible joint robot manipulator: Linear Active Disturbance Rejection Controller (LADRC) and Nonlinear Active Disturbance Rejection Controller (NADRC), and a comparison study in terms of transient performances, robustness characteristics and disturbance rejection capabilities has been made based on LADRC and NADRC
Based on the above research background, to enhance the unmanned helicopter’s anti-disturbance ability, this paper proposes a trajectory tracking control system based on the ADRC-LADRC hybrid controller, and the simulation results show that the ADRC-LADRC controller is better than the traditional LADRC controller
Summary
The unmanned helicopter’s trajectory tracking control system is a system for decoupling control of the multiinput/multi-output (MIMO) nonlinear system, challenging to design [1]. Humaidi et al [17] proposed two ADRC schemes for the position control of a single link flexible joint robot manipulator: Linear Active Disturbance Rejection Controller (LADRC) and Nonlinear Active Disturbance Rejection Controller (NADRC), and a comparison study in terms of transient performances, robustness characteristics and disturbance rejection capabilities has been made based on LADRC and NADRC. This paper designs a trajectory tracking control system of the unmanned helicopter based on the ADRC-LADRC hybrid controller. Based on the above research background, to enhance the unmanned helicopter’s anti-disturbance ability, this paper proposes a trajectory tracking control system based on the ADRC-LADRC hybrid controller, and the simulation results show that the ADRC-LADRC controller is better than the traditional LADRC controller. This paper proposes a parameter optimization algorithm for the ADRC-LADRC hybrid controller based on the BFO-FPA algorithm.
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