High-precision trajectory tracking control of helicopter based on ant colony optimization-slime mould algorithm  

作　　者：Binwu REN Siliang DU Zhuangzhuang CUI Yousong XU Qijun ZHAO 

机构地区：[1]National Key Laboratory of Helicopter Aeromechanics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China [2]Faculty of Mechanical&Material Engineering,HuaiYin Institute of Technology,Huaian 223003,China

出　　处：《Chinese Journal of Aeronautics》2025年第1期395-408,共14页中国航空学报(英文版)

基　　金：support of the National Natural Science Foundation of China(No.12032012);the Priority Academic Program Development of Jiangsu Higher Education Institutions,China。

摘　　要：To achieve high-precision trajectory following during helicopter maneuver tasks and reduce the disruptive influences of unknown variabilities,this study introduces a cascaded-loop helicopter trajectory tracking controller,whose parameters are set using an Ant Colony OptimizationSlime Mould Algorithm(ACO-SMA).Initially,a nonlinear flight dynamics model of the helicopter is constructed.Observer gain functions and nonlinear feedback from a vibrational suppression function to improve the tracking performance of the controller,addressing issues in disturbance estimation and compensation of the Active Disturbance Rejection Control(ADRC).Simultaneously,a cascaded loop system,comprising an internal attitude loop and an external position loop,is created,and the ant colony-slime mold hybrid algorithm optimizes the system parameters of the trajectory tracking controller.Finally,helicopter trajectory tracking simulation experiments are conducted,including spiral ascending and“8”shape climbing maneuvers.The findings indicate that the ADRC employed for helicopter trajectory tracking exhibits outstanding performance in rejecting disturbances caused by gusts and accurately tracking trajectories.The trajectory tracking controller,whose parameters are optimized by the ACO-SMA,shows higher tracking precision compared to the conventional PID and ADRC,thereby substantially improving the precision of maneuver tasks.

关 键 词：Flight control systems HELICOPTER ADRC Trajectory tracking ACO-SMA Spiral ascent "8"shape climbing 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] V275.1[自动化与计算机技术—控制科学与工程] V249.1[航空宇航科学与技术—飞行器设计]