System Development & Application
|
1762-1766

ADRC controller optimization design based on improved PSO algorithm for quad-rotor

Hu Dandan
Zhang Yuchen
Robotics Institute, Civil Aviation University of China, Tianjin 300300, China

Abstract

In order to solve the problem that the parameters of quad-rotor aircraft ADRC controller are difficult to set, and it is hard to get the optimal control effect due to manual parameter tuning, this paper proposed a design method of adaptive disturbance rejection controller based on improved particle swarm optimization for quad-rotor. After designed the ADRC controller of quad-rotor, this method iteratively optimized the parameters of the controller as particles in the particle swarm. At the same time, based on the traditional particle swarm optimization and referring to genetic algorithm, it cross-guaranteed the particles with poor fitness value to improve the diversity of particles, and to speed up the search speed. The simulation results show that compare with the controller with manual tuning parameters, the optimized controller has less overshoot and faster adjusting time. This method can solve the difficulty of manual parameter setting of quad-rotor aircraft ADRC controller, and the optimized controller has better control performance.

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.01.0026
Publish at: Application Research of Computers Printed Article, Vol. 36, 2019 No. 6
Section: System Development & Application
Pages: 1762-1766
Serial Number: 1001-3695(2019)06-034-1762-05

Publish History

[2019-06-05] Printed Article

Cite This Article

胡丹丹, 张宇辰. 基于改进粒子群算法的四旋翼自抗扰控制器优化设计 [J]. 计算机应用研究, 2019, 36 (6): 1762-1766. (Hu Dandan, Zhang Yuchen. ADRC controller optimization design based on improved PSO algorithm for quad-rotor [J]. Application Research of Computers, 2019, 36 (6): 1762-1766. )

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  • Application Research of Computers Monthly Journal
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Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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