DLADRC Controller Parameter Tuning Based on IPSO Algorithm for Quadrotor

DOI

10.2991/pntim-19.2019.10How to use a DOI?

Keywords

Component; ADRC; Quadrotor Aircraft; PSO; Parameter Tuning

Abstract

ADRC controller has the advantages of simple structure, high precision and strong robustness, which can estimate and compensate the uncertainties and disturbances online. However, in practical application, it is found that the controller contains too many parameters, and the range and tuning direction of these parameters can not be determined, which makes it difficult to tune the controller parameters. Therefore, on the basis of in-depth analysis of ADRC and parameter tuning, this paper adopts DLADRC controller with fewer adjusting parameters, and proposes an improved PSO to adjust parameters. Finally, the optimized controller is analyzed under Simulink environment, and is applied to the trajectory tracking simulation of quadrotor aircraft to verify the performance of the controller.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Yao Boyu
AU  - Lu Ping
AU  - Yang Seng
AU  - Ji Jinjian
PY  - 2019/11
DA  - 2019/11
TI  - DLADRC Controller Parameter Tuning Based on IPSO Algorithm for Quadrotor
BT  - Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)
PB  - Atlantis Press
SP  - 42
EP  - 47
SN  - 2589-4943
UR  - https://doi.org/10.2991/pntim-19.2019.10
DO  - 10.2991/pntim-19.2019.10
ID  - Boyu2019/11
ER  -