文献详情
Active disturbance rejection control for small unmanned helicopters via Levy flight-based pigeon-inspired optimization
文献类型期刊
作者Zhang, Daifeng[1];Duan, Haibin[2];Yang, Yijun[3]
机构
通讯作者Duan, HB (reprint author), Beihang Univ, Sci & Technol Aircraft Control Lab, Beijing, Peoples R China.
来源信息年:2017  卷:89  期:6  页码范围:946-952  
期刊信息AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY影响因子和分区  ISSN:1748-8842
关键词Parameter optimization; Active disturbance rejection control; Levy flight-based pigeon-inspired optimization; Small unmanned helicopters
增刊正刊
摘要Purpose - The purpose of this paper is to propose a control approach for small unmanned helicopters, and a novel swarm intelligence algorithm is used to optimize the parameters of the proposed controller. Design/methodology/approach - Small unmanned helicopters have many advantages over other unmanned aerial vehicles. However, the manual operation process is difficult because the model is always instable and coupling. In this paper, a novel optimized active disturbance rejection control (ADRC) approach is presented for small unmanned helicopters. First, a linear attitude model is built in hovering condition according to small perturbation linearization. To realize decoupling, this model is divided into two parts, and each part is equipped with an ADRC controller. Finally, a novel Levy flight-based pigeon-inspired optimization (LFPIO) algorithm is developed to find the optimal ADRC parameters and enhance the performance of controller. Findings - This paper applies ADRC method to the attitude control of small unmanned helicopters so that it can be implemented in practical flight under complex environments. Besides, a novel LFPIO algorithm is proposed to optimize the parameters of ADRC and is proved to be more efficient than other homogenous methods. Research limitations/implications - The model of proposed controller is built in the hovering action, whereas it cannot be used in other flight modes. Practical implications - The optimized ADRC method can be implemented in actual flight, and the proposed LFPIO algorithm can be developed in other practical optimization problems. Originality/value - ADRC method can enhance the response and robustness of unmanned helicopters which make it valuable in actual environments. The proposed LFPIO algorithm is proved to be an effective swarm intelligence optimizer, and it is convenient and valuable to apply it in other optimized systems.
收录情况SCIE(WOS:000414979600023)  
所属部门自动化科学与电气工程学院
DOI10.1108/AEAT-05-2016-0065
百度学术Active disturbance rejection control for small unmanned helicopters via Levy flight-based pigeon-inspired optimization
语言外文
人气指数364
浏览次数364
基金National Natural Science Foundation of China [61425008, 61333004, 61273054]; Aeronautical Foundation of China [2015ZA51013]
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