Optimised trajectory tracking control for quadrotors based on an improved beetle antennae search algorithm  

作　　者：Zhe Lin Ping Li Zhaoqi Zhang 

机构地区：[1]College of Information Science and Engineering,Huaqiao University,Xiamen,People’s Republic of China

出　　处：《Journal of Control and Decision》2023年第3期382-392,共11页控制与决策学报（英文）

基　　金：Fujian Provincial Science and Technology Major Project(No.2020HZ02014);Education and Teaching Reform Research Project for Colleges and Universities in Fujian Province(No.FBJG20210239);Huaqiao University Graduate Education Teaching Reform Research Funding Project(No.20YJG009).

摘　　要：This paper focuses on the trajectory tracking of quadrotors under bounded external disturbances.An optimised robust controller is proposed to drive the position and attitude ofa quadrotor converge to their references quickly. At first, nonsingular fast terminal slidingmode control is developed, which can guarantee not only the stability but also finite-timeconvergence of the closed-loop system. As the parameters of the designed controllers playa vital role for control performance, an improved beetle antennae search algorithm is proposedto optimise them. By employing the historical information of the beetle’s antennaeand dynamically updating the step size as well as the range of its searching, the optimisingis accelerated considerably to ensure the efficiency of the quadrotor control. The superiorityof the proposed control scheme is demonstrated by simulation experiments, from whichone can see that both the error and the overshooting of the trajectory tracking are reducedeffectively.

关 键 词：Quadrotor control trajectory tracking nonsingular fast terminal sliding mode control optimisation improved beetle antennae search algorithm 

分 类 号：V249[航空宇航科学与技术—飞行器设计]