Pendulum-like oscillation controller for micro aerial vehicle with ducted fan based on LQR and PSO  

作　　者：DUAN HaiBin SUN ChangHao 

机构地区：[1]State Key Laboratory of Virtual Reality Technology and Systems,Beihang University [2]Science and Technology on Aircraft Control Laboratory,Beihang University

出　　处：《Science China(Technological Sciences)》2013年第2期423-429,共7页中国科学（技术科学英文版）

基　　金：supported by the National Natural Science Foundation of China (Grant Nos. 61273054,60975072,60604009);the Program for New Century Excellent Talents in University of China (Grant No. NCET-10-0021);the Aeronautical Foundation of China (Grant No. 20115151019);the Opening Foundation of State Key Laboratory of Virtual Reality Technology and Systems of China (Grant No. VR-2011-ZZ-01)

摘　　要：This paper describes a novel type of pendulum-like oscillation controller for micro air vehicle(MAV) hover and stare state in the presence of external disturbances,which is based on linear-quadratic regulator(LQR) and particle swarm optimization(PSO).A linear mathematical model of pendulum phenomenon based upon actual wind tunnel test data representing the hover mode is established,and a hybrid LQR and PSO approach is proposed to stabilize oscillation.PSO is applied to parameter optimization of the designed LQR controller.A series of comparative experiments are conducted,and the results have verified the feasibility,effectiveness and robustness of our proposed approach.

关 键 词：micro air vehicle （MAV） pendulum-like oscillation linear-quadratic regulator （LQR） particle swarm optimization （PSO） 

分 类 号：V249[航空宇航科学与技术—飞行器设计]