Purpose

The purpose of this paper is to develop a novel active disturbance rejection attitude controller for quadrotors and propose a controller parameters identification approach to obtain better control results.

Design/methodology/approach

Aiming at the problem that quadrotor is susceptible to disturbance in outdoor flight, the improved active disturbance rejection control (IADRC) is applied to design attitude controller. To overcome the difficulty that adjusting the parameters of IADRC controller manually is complex, paired coevolution pigeon-inspired optimization (PCPIO) algorithm is used to optimize the control parameters.

Findings

The IADRC, where nonlinear state error feedback control law is replaced by non-singular fast terminal sliding mode control law and a third-order tracking differentiator is designed for second derivative of the state, has higher control accuracy and better robustness than ADRC. The improved PIO algorithm based on evolutionary mechanism, named PCPIO, is proposed. The optimal parameters of ADRC controller are found by PCPIO with the optimization criterion of integral of time-weighted absolute value of the error. The effectiveness of the proposed method is verified by a series of simulation experiments.

Practical implications

IADRC can improve the accuracy of attitude control of quadrotor and resist external interference more effectively. The proposed PCPIO algorithm can be easily applied to practice and can help the design of the quadrotor control system.

Originality/value

An improved active disturbance rejection controller is designed for quadrotor attitude control, and a hybrid model of PIO and evolution mechanism is proposed for parameters identification of the controller.

中文翻译：

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基于配对协同进化鸽子优化的无人四旋翼自抗扰姿态控制

目的

本文的目的是开发一种新型的四旋翼自抗扰姿态控制器，并提出一种控制器参数识别方法，以获得更好的控制结果。

设计/方法/方法

针对四旋翼飞行器在室外飞行中易受干扰的问题，将改进的自抗扰控制（IADRC）应用于姿态控制器的设计。为了克服手动调整IADRC控制器参数复杂的困难，采用配对协同进化鸽子优化（PCPIO）算法对控制参数进行优化。

发现

将非线性状态误差反馈控制律替换为非奇异快速终端滑模控制律并针对状态的二阶导数设计三阶跟踪微分器的IADRC具有比ADRC更高的控制精度和更好的鲁棒性。提出了一种基于进化机制的改进PIO算法，命名为PCPIO。PCPIO以时间加权误差绝对值积分为优化准则，求出ADRC控制器的最优参数。通过一系列仿真实验验证了所提方法的有效性。

实际影响

IADRC可以提高四旋翼飞行器姿态控制的精度，更有效地抵抗外界干扰。所提出的PCPIO算法可以很容易地应用于实践，并且可以帮助四旋翼控制系统的设计。

原创性/价值

针对四旋翼姿态控制设计了一种改进的自抗扰控制器，并提出了一种PIO和进化机制的混合模型用于控制器的参数辨识。