基于JAYA算法优化的小型无人直升机航向控制

Yaw Control for a Small-scale Unmanned Helicopter Based on JAYA Algorithm

针对小型无人直升机在模型不确定性与外界干扰下的航向通道控制问题,提出了一种基于非奇异快速终端滑模的有限时间控制策略。首先,通过牛顿-欧拉法获得无人直升机的偏航动力学模型,在平衡点处对模型作简化处理,同时计入了偏航角速率反馈机制;接着,选择具有切换功能的非奇异快速终端滑模函数来设计偏航控制器,并在Lyapunov理论框架下证明系统误差能在有限时间收敛到零;进而,引入JAYA算法对上述控制器的参数进行整定,保证了优化的质量与效率;最后,通过仿真算例对文中所提控制器的有效性进行了验证。结果表明:JAYA算法比其他三种同类算法具有较高的求解质量和较快的收敛速度,能帮助无人直升机获得不错的控制器参数;文章所提控制器比FNTSMC具有更好的抗干扰能力与更高跟踪精度,且能有效抑制系统抖振。

Aiming at the yaw control of a small-scale unmanned helicopter under model uncertainties and external disturbances,a finite-time controller based on non-singular fast terminal sliding mode control strategy was proposed in the paper.Firstly,the yaw dynamical model of the helicopter was obtained through the Newton-Euler method.The model which added a yaw angular velocity feedback mechanism was linearized with some equilibrium conditions.Then,we used switching non-singular fast terminal sliding mode control strategy to design the controller for the yaw channel.And it was proved that the system error could converge to zero under Lyapunov stability theory.Moreover,a JAYA algorithm was introduced for parameters tuning of the controller,which could ensure the quality and efficiency of the optimization.Lastly,the validity of the proposed method had been verified through a series of simulation.The results showed that JAYA had a high quality of solution and fast convergence speed,and it could help the unmanned helicopter to obtain suitable controller parameters.Compared with FNTSMC,the proposed controller had the better anti-interference ability and higher tracking accuracy,and it could effectively suppress system chattering.