scholarly journals Dynamic Decoupling Control Optimization for a Small-Scale Unmanned Helicopter

2018 ◽  
Vol 2018 ◽  
pp. 1-12 ◽  
Author(s):  
Rui Ma ◽  
Li Ding ◽  
Hongtao Wu
Keyword(s):  
Disturbance Rejection ◽  
Method Comparison ◽  
Function Optimization ◽  
Decoupling Control ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Design And Optimization ◽  
Bee Colony ◽  
Comparison Results ◽  
Attitude Tracking

This article presents design and optimization results from an implementation of a novel disturbance decoupling control strategy for a small-scale unmanned helicopter. Such a strategy is based on the active disturbance rejection control (ADRC) method. It offers an appealing alternative to existing control approaches for helicopters by combining decoupling and disturbance rejection without a detailed plant dynamics. The tuning of the control system is formulated as a function optimization problem to capture various design considerations. In comparison with several different iterative search algorithms, an artificial bee colony (ABC) algorithm is selected to obtain the optimal control parameters. For a fair comparison of control performance, a well-designed LQG controller is also optimized by the proposed method. Comparison results from an attitude tracking simulation against wind disturbance show the significant advantages of the proposed optimization control for this control application.

scholarly journals Chaotic Artificial Bee Colony Algorithm for System Identification of a Small-Scale Unmanned Helicopter

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Li Ding ◽  
Hongtao Wu ◽  
Yu Yao
Keyword(s):  
System Identification ◽  
Artificial Bee Colony Algorithm ◽  
Artificial Bee Colony ◽  
State Space Model ◽  
Global Optimum ◽  
Small Scale ◽  
Local Optimum ◽  
Unmanned Helicopter ◽  
Bee Colony ◽  
Chaotic Operator

The purpose of this paper is devoted to developing a chaotic artificial bee colony algorithm (CABC) for the system identification of a small-scale unmanned helicopter state-space model in hover condition. In order to avoid the premature of traditional artificial bee colony algorithm (ABC), which is stuck in local optimum and can not reach the global optimum, a novel chaotic operator with the characteristics of ergodicity and irregularity was introduced to enhance its performance. With input-output data collected from actual flight experiments, the identification results showed the superiority of CABC over the ABC and the genetic algorithm (GA). Simulations are presented to demonstrate the effectiveness of our proposed algorithm and the accuracy of the identified helicopter model.

Artificial bee colony optimised controller for small-scale unmanned helicopter

2017 ◽  
Vol 121 (1246) ◽  
pp. 1879-1896 ◽  
Author(s):  
R. Ma ◽  
H. Wu ◽  
L. Ding
Keyword(s):  
Attitude Control ◽  
Artificial Bee Colony ◽  
Control Method ◽  
Hierarchical Control ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Linear Quadratic ◽  
Linear Quadratic Gaussian ◽  
Bee Colony ◽  
Loop Transfer Recovery

ABSTRACTIn this paper, an efficient approach to design and optimize a flight controller of a small-scale unmanned helicopter is proposed. Given the identified helicopter model, the Linear Quadratic Gaussian/Loop Transfer Recovery (LQG/LTR) robust control method is applied for trajectory tracking and attitude control of the helicopter with a two-loop hierarchical control architecture. Since the performance of the controller extremely depends on its weighting matrices, the Artificial Bee Colony (ABC) algorithm is introduced to automatically select the parameters of the matrices. Comparative studies between optimal algorithms are also carried out. A series of flight experiments and simulations are conducted to investigate the effectiveness and robustness of the proposed optimised controller.

scholarly journals Dynamical Model Identification for a Small-Scale Unmanned Helicopter Using an Integrated Approach

2019 ◽  
Vol 2019 ◽  
pp. 1-11 ◽  
Author(s):  
Rui Ma ◽  
Li Ding ◽  
Kailei Liu ◽  
Hongtao Wu
Keyword(s):  
Model Identification ◽  
Wind Tunnel Test ◽  
Integrated Approach ◽  
Dynamical Model ◽  
Small Scale ◽  
Unmanned Helicopter ◽  
Bee Colony ◽  
Chaotic Operator ◽  
Dynamical Parameters ◽  
Search Speed

This article presents an integrated approach for the parameter identification of a small-scale unmanned helicopter. With the flight experiment data collection and preprocessing, a hybrid identified algorithm combining the improved artificial bee colony algorithm and prediction error method is proposed to obtain the unknown dynamical parameters of the linear model. The proposed algorithm is valid to use thanks to an adaptive search equation, a novel probability-scaling method, and a chaotic operator and has a good performance in search speed and quality. Afterwards, we design a wind tunnel test to modify the main rotor time constant of the identified model. The identified accuracy and feasibility of the proposed approach are verified by making a time-domain comparison with three other algorithms. Results show that the dynamical characteristics of the helicopter can be determined accurately by the identified model. And the proposed approach is propitious to enhance the reliability and availability of the identified dynamical model.

scholarly journals Stress-driven two-phase integral elasticity for Timoshenko curved beams

2021 ◽  
pp. 239779142199051
Author(s):  
Marzia S Vaccaro ◽  
Francesco P Pinnola ◽  
Francesco Marotti de Sciarra ◽  
Marko Canadija ◽  
Raffaele Barretta
Keyword(s):  
Solution Procedure ◽  
Small Scale ◽  
Curved Beams ◽  
Sensors And Actuators ◽  
Two Phase ◽  
Design And Optimization ◽  
Local Responses ◽  
Size Dependent ◽  
Classical Boundary ◽  
Phase Integral

In this research, the size-dependent static behaviour of elastic curved stubby beams is investigated by Timoshenko kinematics. Stress-driven two-phase integral elasticity is adopted to model size effects which soften or stiffen classical local responses. The corresponding governing equations of nonlocal elasticity are established and discussed, non-classical boundary conditions are detected and an effective coordinate-free solution procedure is proposed. The presented mixture approach is elucidated by solving simple curved small-scale beams of current interest in Nanotechnology. The contributed results could be useful for design and optimization of modern sensors and actuators.

Design and optimization of small-scale methanol production from sour natural gas by integrating reforming with hydrogenation

2020 ◽  
Vol 45 (59) ◽  
pp. 34483-34493
Author(s):  
Hua Liu ◽  
Jinghui Qu ◽  
Ming Pan ◽  
Bingjian Zhang ◽  
Qinglin Chen ◽  
...  
Keyword(s):  
Natural Gas ◽  
Small Scale ◽  
Methanol Production ◽  
Design And Optimization
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