Dynamic Decoupling Control Optimization for a Small-Scale Unmanned Helicopter
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 co...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/9897684 |
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| _version_ | 1832562801338482688 |
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| author | Rui Ma Li Ding Hongtao Wu |
| author_facet | Rui Ma Li Ding Hongtao Wu |
| author_sort | Rui Ma |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-4660125730d74bfeafd03487aa4e2140 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-4660125730d74bfeafd03487aa4e21402025-02-03T01:21:42ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/98976849897684Dynamic Decoupling Control Optimization for a Small-Scale Unmanned HelicopterRui Ma0Li Ding1Hongtao Wu2College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Mechanical Engineering, Jiangsu University of Technology, Changzhou 213001, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaThis 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.http://dx.doi.org/10.1155/2018/9897684 |
| spellingShingle | Rui Ma Li Ding Hongtao Wu Dynamic Decoupling Control Optimization for a Small-Scale Unmanned Helicopter Journal of Robotics |
| title | Dynamic Decoupling Control Optimization for a Small-Scale Unmanned Helicopter |
| title_full | Dynamic Decoupling Control Optimization for a Small-Scale Unmanned Helicopter |
| title_fullStr | Dynamic Decoupling Control Optimization for a Small-Scale Unmanned Helicopter |
| title_full_unstemmed | Dynamic Decoupling Control Optimization for a Small-Scale Unmanned Helicopter |
| title_short | Dynamic Decoupling Control Optimization for a Small-Scale Unmanned Helicopter |
| title_sort | dynamic decoupling control optimization for a small scale unmanned helicopter |
| url | http://dx.doi.org/10.1155/2018/9897684 |
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