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System Identification Method for small unmanned helicopter Based on Improved Particle Swarm Optimization

Journal of Bionic Engineering 2016年第3期13卷 504-514页

作者： Oi Bian Kairui Zhao Xinmin Wang Rong Xie School of Automation Northwestern Polytechnical University Xi 'an 710129 China

This paper proposes a novel method for small unmanned helicopter （SUH） system identification based on Improved Particle Swarm Optimization （IPSO）. In the proposed IPSO, every particle will do a local search as a ＂self-check＂ before up- dating the global velocity and position. Then, the global best particle is created by a certain number of elitist particles in order to get a rapid rate of convergence during calculation. Thus both the diversity and convergence speed can be taken into considera- tion during a search. Formulated by the first principles derivation, a state-space model is built for the analysis of dynamic modes of an experimental SUH. The helicopter is equipped with an Attitude Heading Reference System （AHRS） and the corresponding data storage modules, which are used for flight test data measurement and recording. After data collection and reconstruction, the input and output data are utilized to determine the corresponding aerodynamic parameters of the state-space model. The predictive accuracy and fidelity of the identified model are verified by making a time-domain comparison between the responses from the simulation model and the responses from actual flight experiments. The results show that the characteristics of the experimental SUH can be determined accurately using the identified model and the new method can be used for SUH system identification with high efficiency and reliability.

关键词： small unmanned helicopter state-space model system identification improved particle swarm optimization

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Design of Yaw Controller for a small unmanned helicopter Based on Improved ADRC

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Guidance, Navigation and Control 2021年第4期1卷 7-25页

作者： Linjie Huang Hailong Pei Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationUnmanned Aerial Vehicle Systems Engineering and Technology Research Center of GuangdongSouth China University of TechnologyGuangzhou 510640P.R.China

Yaw control is signi¯cant to the attitude control of small unmanned helicopters(SUHs).Since the existing robust control method cannot be applied to the SUH with unknown dynamics and disturbances,this paper proposes an improved active disturbance rejection control(IADRC)to solve the *** IADRC obtains the optimal solution of the actuator gain(b0)by gradient ***,this paper summarizes some experiences during the tuning process of ADRC,which signi¯cantly reduces the di±culty of designing ***,the experimental results show that the proposed method is better than the traditional PID in robust and tracking control performance.

关键词： Yaw control small unmanned helicopter active disturbance rejection control gradient descent

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