Yuan, Yang (Beihang University), Duan, Haibin (Beihang University), Wei, Chen (Beihang University)

Model-Free Control for Quadrotor Attitude Via Tent Map-Based Pigeon-Inspired Optimization

Scheduled for presentation during the Regular Session "Current Advances in UAS – Best Paper Finalists" (ThB1), Thursday, June 8, 2023, 11:00−11:20, Room 118

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

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.