点击次数：
所属单位：机电学院
发表刊物：J. Rob.
摘要：This article presents design and optimization results from an implementation of a novel disturbance decoupling control strategy for a small-scale unmanned helicopter. Such a strategy is based on the active disturbance rejection control (ADRC) method. It offers an appealing alternative to existing control approaches for helicopters by combining decoupling and disturbance rejection without a detailed plant dynamics. The tuning of the control system is formulated as a function optimization problem to capture various design considerations. In comparison with several different iterative search algorithms, an artificial bee colony (ABC) algorithm is selected to obtain the optimal control parameters. For a fair comparison of control performance, a well-designed LQG controller is also optimized by the proposed method. Comparison results from an attitude tracking simulation against wind disturbance show the significant advantages of the proposed optimization control for this control application. © 2018 Rui Ma et al.
ISSN号：1687-9600
是否译文：否
发表时间：2018-01-01
合写作者：Ma, Rui,Ding, Li
通讯作者：吴洪涛