Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)

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DLADRC Controller Parameter Tuning Based on IPSO Algorithm for Quadrotor

Authors
Yao Boyu, Lu Ping, Yang Seng, Ji Jinjian
Corresponding Author
Yao Boyu
Available Online November 2019.
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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Volume Title
Proceedings of the 2019 International Conference on Precision Machining, Non-Traditional Machining and Intelligent Manufacturing (PNTIM 2019)
Series
Atlantis Highlights in Engineering
Publication Date
November 2019
ISBN
10.2991/pntim-19.2019.10
ISSN
2589-4943
DOI
10.2991/pntim-19.2019.10How to use a DOI?
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/).

Cite this article

risenwbib
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  -