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Artificial bee colony optimised controller for small-scale unmanned helicopter

Part of: APISAT 2015

Published online by Cambridge University Press:  03 November 2017

R. Ma ,
H. Wu  and
L. Ding
R. Ma*
Affiliation:
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
H. Wu
Affiliation:
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
L. Ding
Affiliation:
College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China
*
marui@nuaa.edu.cn
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Abstract

In 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.

Keywords

Small-scale unmanned helicopterLQG/LTRartificial bee colony algorithmflight experimentstrajectory tracking
Type
Research Article
Information
The Aeronautical Journal , Volume 121 , Issue 1246 , December 2017 , pp. 1879 - 1896
Copyright
Copyright © Royal Aeronautical Society 2017 

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