TY - GEN
T1 - Consider for Best Student Paper Award Model-Free Control for Quadrotor Attitude via Tent Map-Based Pigeon-Inspired Optimization
AU - Yuan, Yang
AU - Duan, Haibin
AU - Wei, Chen
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - The attitude control problem of the quadrotor in the presence of disturbance and model uncertainty is studied in this paper. Firstly, a first-order filter is applied to generate the desired derivate of the reference signal. Then, a model-free adaptive attitude controller is designed for the condition that model parameters are not available. The discrete equation of the angular velocity is obtained by using the compact form dynamic linearization method, and the cascade controller is established based on the continuous kinematics and discrete dynamics. In addition, tent map-based pigeon-inspired optimization is designed to optimize the parameters of the filter and controller. Compared with original pigeon-inspired optimization, the premature problem can be effectively contained. Finally, the simulation results demonstrate the feasibility of the model-free attitude controller and the advantages of the Tent map-based pigeon-inspired optimization.
AB - The attitude control problem of the quadrotor in the presence of disturbance and model uncertainty is studied in this paper. Firstly, a first-order filter is applied to generate the desired derivate of the reference signal. Then, a model-free adaptive attitude controller is designed for the condition that model parameters are not available. The discrete equation of the angular velocity is obtained by using the compact form dynamic linearization method, and the cascade controller is established based on the continuous kinematics and discrete dynamics. In addition, tent map-based pigeon-inspired optimization is designed to optimize the parameters of the filter and controller. Compared with original pigeon-inspired optimization, the premature problem can be effectively contained. Finally, the simulation results demonstrate the feasibility of the model-free attitude controller and the advantages of the Tent map-based pigeon-inspired optimization.
UR - https://www.scopus.com/pages/publications/85165699126
U2 - 10.1109/ICUAS57906.2023.10156491
DO - 10.1109/ICUAS57906.2023.10156491
M3 - 会议稿件
AN - SCOPUS:85165699126
T3 - 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
SP - 602
EP - 607
BT - 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
Y2 - 6 June 2023 through 9 June 2023
ER -