Research on unmanned aerial vehicle modeling and control based on intelligent algorithms

• Main Authors: Peng Liu, Xun Luo, Zhendong Bai, Xin Liu, Jiaqi Liu
• Format: Article
• Language: English
• Published: SAGE Publishing 2019-05-01
• Series: Advances in Mechanical Engineering
• Online Access: https://doi.org/10.1177/1687814019851693

This article designs an automatic flight control system for an unmanned aerial vehicle helicopter. The differential evolution intelligent algorithm is used for a state-space model identification; the differential evolution method has an advantage of choosing initial point randomly. The accuracy of the identified model is verified by comparing the model-predicted responses with the responses collected during flight experiments. The reliability and efficiency of the differential evolution algorithm are demonstrated by the experimental results. A robust controller is designed based on the identified model for the unmanned aerial vehicle helicopter with two-loop control frame: the outer-loop is used to obtain the expected attitude angles through reference path and speed with guidance-based path-following control, and the inner-loop is used to control the attitude angles of helicopter tracking the expected ones with H ∞ loop-shaping method. The greatest common right divisor method is used to choose the weighting matrix in loop shaping, in which the stability margin is larger and has a greater bandwidth of the unmanned aerial vehicle system. Finally, a space spiral curve trajectory tracking simulation is conducted to illustrate the efficiency of the proposed control systems, and the simulation results prove that the unmanned helicopter system achieves a top-level control performance.