TY - JOUR
T1 - Pendulum-like oscillation controller for micro aerial vehicle with ducted fan based on LQR and PSO
AU - Duan, Hai Bin
AU - Sun, Chang Hao
PY - 2013/2
Y1 - 2013/2
N2 - This paper describes a novel type of pendulum-like oscillation controller for micro air vehicle (MAV) hover and stare state in the presence of external disturbances, which is based on linear-quadratic regulator (LQR) and particle swarm optimization (PSO). A linear mathematical model of pendulum phenomenon based upon actual wind tunnel test data representing the hover mode is established, and a hybrid LQR and PSO approach is proposed to stabilize oscillation. PSO is applied to parameter optimization of the designed LQR controller. A series of comparative experiments are conducted, and the results have verified the feasibility, effectiveness and robustness of our proposed approach.
AB - This paper describes a novel type of pendulum-like oscillation controller for micro air vehicle (MAV) hover and stare state in the presence of external disturbances, which is based on linear-quadratic regulator (LQR) and particle swarm optimization (PSO). A linear mathematical model of pendulum phenomenon based upon actual wind tunnel test data representing the hover mode is established, and a hybrid LQR and PSO approach is proposed to stabilize oscillation. PSO is applied to parameter optimization of the designed LQR controller. A series of comparative experiments are conducted, and the results have verified the feasibility, effectiveness and robustness of our proposed approach.
KW - linear-quadratic regulator (LQR)
KW - micro air vehicle (MAV)
KW - particle swarm optimization (PSO)
KW - pendulum-like oscillation
UR - https://www.scopus.com/pages/publications/84878333856
U2 - 10.1007/s11431-012-5065-5
DO - 10.1007/s11431-012-5065-5
M3 - 文章
AN - SCOPUS:84878333856
SN - 1674-7321
VL - 56
SP - 423
EP - 429
JO - Science China Technological Sciences
JF - Science China Technological Sciences
IS - 2
ER -