Quadrotor Attitude Control by Fractional-Order Fuzzy Particle Swarm Optimization-Based Active Disturbance Rejection Control

Applied Sciences

卷:11

Yaoxing Wei¹  Xiao Li¹  Qi Zhang¹ 

[1] School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, China;

关键词: quadrotor aircraft;    attitude control;    ADRC;    parameter optimization;    fractional-order fuzzy particle swarm optimization;   

DOI  :  10.3390/app112411583

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown