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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2020, Vol. 41 ›› Issue (1): 323490-323490.doi: 10.7527/S1000-6893.2019.23490

• Electronics and Electrical Engineering and Control • Previous Articles     Next Articles

ADRC controller design for UAV based on variable weighted mutant pigeon inspired optimization

FEI Lun1, DUAN Haibin1,2, XU Xiaobin1, BAO Rui1, SUN Yongbin1   

  1. 1. Bio-inspired Autonomous Flight Systems Research Group, School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China;
    2. Peng Cheng Laboratory, Shenzhen 518000, China
  • Received:2019-09-11 Revised:2019-09-23 Online:2020-01-15 Published:2019-10-17
  • Supported by:
    National Natural Science Foundation of China (91648205, 61425008);Aeronautical Science Foundation of China (20185851022)

Abstract: This paper addresses the various modeling errors and external disturbances in the process of aerial refueling and the difficulty of manual parameter setting of Active Disturbance Rejection Controller (ADRC) controllers. A Variable Weighted Mutant Pigeon Inspired Optimization (VWMPIO) algorithm for ADRC designed for Unmanned Aerial Vehicle (UAV) is proposed. First of all, this paper establishes a six degree-of-freedom UAV model and then designs an attitude controller based on the ADRC structure. On this basis, parameters of the controller are tuned with the VWMPIO algorithm proposed in this paper, and a comparison amongst the VWMPIO algorithm, the basic PIO algorithm, and the PSO optimization algorithms. In addition, the ADRC controller is compared with the traditional Proportional-Integral-Differential (PID) controller in terms of control performance and anti-noise performance. The experimental result shows that the proposed method can improve the control accuracy and disturbance rejection performance of UAV aerial refueling in complex situations.

Key words: aerial refueling, variable weighted mutant pigeon inspired optimization, active disturbance rejection control, parameter tuning, attitude control

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