摘要
针对四旋翼飞行器滑模控制参数难以确定的问题,提出使用一种结合混沌策略的改进鱼群算法对参数进行优化;将Tent映射和鱼群算法结合,参考目标函数值对步长进行修正,获得了改进混沌鱼群算法,并将算法运用到滑模控制器参数整定过程中;结合四旋翼飞行器模型,进行了数据仿真实验,获得的控制器参数在响应速度和能耗方面都优于常规方法整定的参数,可实现飞行器的稳定控制;结果表明,改进的混沌鱼群算法能够有效收敛到全局最优解,在维度为10的算例中,能够实现多目标全局优化。
In order to solve the problem which parameters of the quadrotor＇ s SMC are difficult to set, an improved method combining AFSA and chaotic policy is used to tune them. Combining the Tent projection and AFSA, correcting step with the objective function, obtains an improved chaotic AFSA applied to the SMC＇ s parameters tuning process. Combined quadroter aircraft simulation model data, the con- troller＇ s parameters obtained are better than conventional methods in response speed and power consumption, and achieve stability control aircraft. The results show that the improved algorithm can effectively converge to the global optimal solution, in the 10 dimension example; it can achieve multi--objective global optimization.
出处
《计算机测量与控制》
北大核心
2014年第4期1141-1144,共4页
Computer Measurement &Control
基金
重庆市高等教育教学改革研究一般项目(103433)
