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《Journal of Guangxi Normal University(Natural Science Edition)》 2018-04
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Study of Seeker Optimization Algorithm with Inertia Term Self-tuning to Attitude Stability of Quadrotor UAV

TANG Tang;WEI Chengyun;LUO Xiaoshu;QIU Senhui;College of Electronic Engineering,Guangxi Normal University;Guilin Feiyu Science and Technology Incorporated Company;  
In order to improve the effectiveness and accuracy of the control system and to solve the shortcomings such as too many parameters and failing to update the tuning of these control parameters timely of the nonlinear active disturbance rejection control,this paper puts forward a kind of attitude stability control method of the combination of seeker optimization algorithm with inertia term and active disturbance rejection control.The methods of inertia coefficient about the step and direction of searching are modified to achieve quadrotor UAV's attitude control during the process disturbed flight.The simulation experiment analysis shows that when compared with the seeker optimization algorithm parameters self-tuning active disturbance rejection control and the active disturbance rejection control without self-tuning,this new control method improves the performance of the dynamic response,anti-disturbance and robustness,which has practical value to improve the attitude stability control of quadrotor UAV.
【Fund】: 国家自然科学基金(11262004);; 广西多源信息挖掘与安全重点实验室开放基金(MIMS5-06);; 广西信息科学实验中心自主项目(KA1430);; 广西研究生教育创新计划项目(XYCSZ2017051);; 广西科技重大专项(桂科AA18118004)
【CateGory Index】: V279;V249.1
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