Leveraging the benefits of the multiobjective particle swarm optimization (PSO) technique, we introduce a new concept of adaptive strictly negative imaginary (SNI) controllers. The proposed adaptive control systems are specifically designed to minimize a certain performance index, representing the objective of our control design, which is to obtain a stable, robust, and responsive 3-D tracking of the AR.Drone drone in the face of wind gusts. We compare the performance of our proposed adaptive controllers with respect to the performance of PSO-PID control systems and the traditional Ziegler-Nichols PID controllers, not only in simulated flights but also in real flight tests. We also present a stability analysis of the closed-loop control system using the SNI system theory.

中文翻译：

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使用基于粒子群优化的严格负虚控制器在未知风环境中进行四旋翼系统的自适应轨迹跟踪


利用多目标粒子群优化（PSO）技术的优势，我们引入了自适应严格负虚数（SNI）控制器的新概念。所提出的自适应控制系统专门设计用于最小化某个性能指标，这代表了我们控制设计的目标，即在阵风面前获得 AR.Drone 无人机稳定、鲁棒和响应灵敏的 3D 跟踪。我们不仅在模拟飞行中而且在实际飞行测试中将我们提出的自适应控制器的性能与 PSO-PID 控制系统和传统 Ziegler-Nichols PID 控制器的性能进行比较。我们还使用 SNI 系统理论对闭环控制系统进行了稳定性分析。