Trajectory Tracking Active Disturbance Rejection Control of the Unmanned Helicopter and Its Parameters Tuning

IEEE Access

Suiyuan Shen¹  Jinfa Xu¹ 

[1] National Key Laboratory of Rotorcraft Aeromechanics, Nanjing University of Aeronautics and Astronautics, Nanjing, China;

关键词: Unmanned helicopter;    linear/nonlinear hybrid control;    active disturbance rejection control;    control parameter tuning;   

DOI  :  10.1109/ACCESS.2021.3071457

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown