Attitude Control of UAVs with Search Optimization and Disturbance Rejection Strategies

Wensheng Li, Fanke Yang (), Liqiang Zhong, Hao Wu, Xiangyuan Jiang () and Andrei V. Chukalin
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Wensheng Li: China Southern Power Grid Technology Co., Ltd., Guangzhou 510080, China
Fanke Yang: Institute of Marine Science and Technology, Shandong University, Qingdao 266237, China
Liqiang Zhong: China Southern Power Grid Technology Co., Ltd., Guangzhou 510080, China
Hao Wu: China Southern Power Grid Technology Co., Ltd., Guangzhou 510080, China
Xiangyuan Jiang: Institute of Marine Science and Technology, Shandong University, Qingdao 266237, China
Andrei V. Chukalin: Laboratory of Interdisciplinary Problems in Energy Production, Ulyanovsk State Technical University, Ulyanovsk 432027, Russia

Mathematics, 2023, vol. 11, issue 17, 1-16

Abstract: This study aims to achieve rapid and stable control of quadrotor unmanned aerial vehicles’ (UAVs) attitude by using an Active Disturbance Rejection Control (ADRC) controller. Addressing the challenge of numerous and complex ADRC parameters, optimization algorithms are employed for parameter tuning. This paper draws on the group mechanism of the Ant Colony Optimization (ACO) algorithm and innovatively introduces population search into the Beetle Antennae Search (BAS) algorithm. The refined algorithm is then applied to tune the ADRC parameters, reducing complexity and human intervention while enhancing intelligence and efficiency. The advanced optimization algorithm exhibits an exceptional global optimization capacity, convergence speed, and stability. Ultimately, flight simulation and experimental results suggest that the optimized ADRC controller demonstrates superior control and antidisturbance capabilities.

Keywords: UAV; ADRC; optimization algorithm; parameter tuning; attitude control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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