Quadrotor Attitude Control by Fractional-Order Fuzzy Particle Swarm Optimization-Based Active Disturbance Rejection Control
In this paper, Active Disturbance Rejection Control (ADRC) is utilized in the attitude control of a quadrotor aircraft to address the problem of attitude destabilization in flight control caused by parameter uncertainties and external disturbances. Considering the difficulty of optimizing the parame...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/24/11583 |
| _version_ | 1797506790139625472 |
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| author | Qi Zhang Yaoxing Wei Xiao Li |
| author_facet | Qi Zhang Yaoxing Wei Xiao Li |
| author_sort | Qi Zhang |
| collection | DOAJ |
| description | In this paper, Active Disturbance Rejection Control (ADRC) is utilized in the attitude control of a quadrotor aircraft to address the problem of attitude destabilization in flight control caused by parameter uncertainties and external disturbances. Considering the difficulty of optimizing the parameter of ADRC, a fractional-order fuzzy particle swarm optimization (FOFPSO) algorithm is proposed to optimize the parameters of ADRC for quadrotor aircraft. Simultaneously, the simulation experiment is designed, which compares with the optimized performance of traditional particle swarm optimization (PSO), fuzzy article swarm optimization (FPSO) and adaptive genetic algorithm-particle swarm optimization (AGA-PSO). In addition, the turbulent wind field model is established to verify the disturbance rejection performance of the controller. Finally, the designed controller is deployed to the actual hardware platform by using the model-based design method. The results show that the controller has a small overshoot and stronger disturbance rejection ability after the parameters are optimized by the proposed algorithm. |
| first_indexed | 2024-03-10T04:38:25Z |
| format | Article |
| id | doaj.art-3e361988ce3a439f98c6f03d6f037574 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T04:38:25Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-3e361988ce3a439f98c6f03d6f0375742023-11-23T03:35:11ZengMDPI AGApplied Sciences2076-34172021-12-0111241158310.3390/app112411583Quadrotor Attitude Control by Fractional-Order Fuzzy Particle Swarm Optimization-Based Active Disturbance Rejection ControlQi Zhang0Yaoxing Wei1Xiao Li2School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, ChinaSchool of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, ChinaSchool of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, ChinaIn this paper, Active Disturbance Rejection Control (ADRC) is utilized in the attitude control of a quadrotor aircraft to address the problem of attitude destabilization in flight control caused by parameter uncertainties and external disturbances. Considering the difficulty of optimizing the parameter of ADRC, a fractional-order fuzzy particle swarm optimization (FOFPSO) algorithm is proposed to optimize the parameters of ADRC for quadrotor aircraft. Simultaneously, the simulation experiment is designed, which compares with the optimized performance of traditional particle swarm optimization (PSO), fuzzy article swarm optimization (FPSO) and adaptive genetic algorithm-particle swarm optimization (AGA-PSO). In addition, the turbulent wind field model is established to verify the disturbance rejection performance of the controller. Finally, the designed controller is deployed to the actual hardware platform by using the model-based design method. The results show that the controller has a small overshoot and stronger disturbance rejection ability after the parameters are optimized by the proposed algorithm.https://www.mdpi.com/2076-3417/11/24/11583quadrotor aircraftattitude controlADRCparameter optimizationfractional-order fuzzy particle swarm optimization |
| spellingShingle | Qi Zhang Yaoxing Wei Xiao Li Quadrotor Attitude Control by Fractional-Order Fuzzy Particle Swarm Optimization-Based Active Disturbance Rejection Control Applied Sciences quadrotor aircraft attitude control ADRC parameter optimization fractional-order fuzzy particle swarm optimization |
| title | Quadrotor Attitude Control by Fractional-Order Fuzzy Particle Swarm Optimization-Based Active Disturbance Rejection Control |
| title_full | Quadrotor Attitude Control by Fractional-Order Fuzzy Particle Swarm Optimization-Based Active Disturbance Rejection Control |
| title_fullStr | Quadrotor Attitude Control by Fractional-Order Fuzzy Particle Swarm Optimization-Based Active Disturbance Rejection Control |
| title_full_unstemmed | Quadrotor Attitude Control by Fractional-Order Fuzzy Particle Swarm Optimization-Based Active Disturbance Rejection Control |
| title_short | Quadrotor Attitude Control by Fractional-Order Fuzzy Particle Swarm Optimization-Based Active Disturbance Rejection Control |
| title_sort | quadrotor attitude control by fractional order fuzzy particle swarm optimization based active disturbance rejection control |
| topic | quadrotor aircraft attitude control ADRC parameter optimization fractional-order fuzzy particle swarm optimization |
| url | https://www.mdpi.com/2076-3417/11/24/11583 |
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