Three degree of freedom (3 DOF) Hover Quad Copter (HQC) platforms are implemented for various missions in diverse scales from the micro to macro platforms. As HQC platforms scale down, micro platform requires rather robust and effective control techniques. This study investigates applicability of some stochastic optimization methods for tuning feedback gain control of HQC rotors and compares optimization results with results of linear quadratic regulator (LQR) method that has been widely used analytical method for optimal feedback gain control of HQCs. This study considers the utilization of two stochastic methods for tuning of HQCs. These methods are stochastic multi-parameter divergence optimization method (SMDO) and discrete stochastic optimization method (DSO). These methods are employed to optimize feedback gain coefficients of an experimental HQC test platform. Simulation and experimental results of SMDO and DSO methods are reported and compared with results of LQR method.

中文翻译：

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用随机优化方法微调悬停四旋翼旋翼反馈增益控制

三自由度 (3 DOF) 悬停四轴飞行器 (HQC) 平台适用于从微观到宏观平台的各种规模的各种任务。随着 HQC 平台规模缩小，微型平台需要相当强大和有效的控制技术。本研究调查了一些随机优化方法用于调整 HQC 转子反馈增益控制的适用性，并将优化结果与线性二次调节器 (LQR) 方法的结果进行比较，线性二次调节器 (LQR) 方法已广泛用于 HQC 最佳反馈增益控制的分析方法。本研究考虑了使用两种随机方法来调整 HQC。这些方法是随机多参数散度优化方法（SMDO）和离散随机优化方法（DSO）。这些方法用于优化实验 HQC 测试平台的反馈增益系数。报告了 SMDO 和 DSO 方法的模拟和实验结果，并与 LQR 方法的结果进行了比较。