This paper shows that the aerodynamic effects can be compensated in a quadrotor system by means of a control allocation approach using neural networks.Thus,the system performance can be improved by replacing the class...This paper shows that the aerodynamic effects can be compensated in a quadrotor system by means of a control allocation approach using neural networks.Thus,the system performance can be improved by replacing the classic allocation matrix,without using the aerodynamic inflow equations directly.The network training is performed offline,which requires low computational power.The target system is a Parrot MAMBO drone whose flight control is composed of PD-PID controllers followed by the proposed neural network control allocation algorithm.Such a quadrotor is particularly susceptible to the aerodynamics effects of interest to this work,because of its small size.We compared the mechanical torques commanded by the flight controller,i.e.,the control input,to those actually generated by the actuators and established at the aircraft.It was observed that the proposed neural network was able to closely match them,while the classic allocation matrix could not achieve that.The allocation error was also determined in both cases.Furthermore,the closed-loop performance also improved with the use of the proposed neural network control allocation,as well as the quality of the thrust and torque signals,in which we perceived a much less noisy behavior.展开更多
This paper discusses the design and implementation of a low cost multi-sensor integrated attitude determination system for small unmanned aerial vehicles( UAVs),which uses strapdown inertial navigation system( SINS) b...This paper discusses the design and implementation of a low cost multi-sensor integrated attitude determination system for small unmanned aerial vehicles( UAVs),which uses strapdown inertial navigation system( SINS) based on micro electromechanical system( MEMS) inertial sensors,commercial GPS receiver,and 3-axis magnetometer.MEMS-SINS initial attitude determination cannot be well performed for the reason that the MEMS inertial sensors biases are time-varying and poor repeatability,therefore in this paper the magnetometer and inclinometer are used to assist the MEMS-SINS initial attitude determination and MEMS inertial sensors field calibration.Furthermore,the attitude determination algorithms are presented to estimate the full attitude during GPS signal outage and non-accelerating situation.Additionally,the attitude information estimation results are compared with the reference of the non-magnetic marble platform and 3-axis turntable.Then the attitude estimation precision satisfies the requirement of attitude measurement for small UAVs during GPS signal outage and availability.Finally,the small UAV autonomous flight test results show that the low cost and real-time attitude determination system can yield continuous,reliable and effective attitude information for small UAVs.展开更多
由于微种群教与学优化算法的种群规模较小,故其种群多样性很难维持.为提高微种群教与学优化算法的搜索性能,提出了一种基于多源基因学习的微种群教与学优化算法(micro-population teaching-learning-based optimization based on multi-...由于微种群教与学优化算法的种群规模较小,故其种群多样性很难维持.为提高微种群教与学优化算法的搜索性能,提出了一种基于多源基因学习的微种群教与学优化算法(micro-population teaching-learning-based optimization based on multi-source gene learning,MTLBO-MGL).在MTLBO-MGL算法中,将教阶段和学阶段根据随机选择策略来对个体进行基因水平上的进化操作;并从基因层面上对种群多样性进行检测和使用稀疏谱聚类方法对种群的每个维度进行聚类.然后,根据多样性检测和聚类结果,选择不同的进化策略来提高所提算法的搜索性能.在28个测试函数上,通过将所提算法与其他4种微种群进化算法作对比,证明了所提算法的整体性能要显著好于所对比的4种算法.本文还将所提算法应用于无人机三维路径规划问题,结果表明MTLBO-MGL算法能够在该问题上取得较好结果.展开更多
文摘This paper shows that the aerodynamic effects can be compensated in a quadrotor system by means of a control allocation approach using neural networks.Thus,the system performance can be improved by replacing the classic allocation matrix,without using the aerodynamic inflow equations directly.The network training is performed offline,which requires low computational power.The target system is a Parrot MAMBO drone whose flight control is composed of PD-PID controllers followed by the proposed neural network control allocation algorithm.Such a quadrotor is particularly susceptible to the aerodynamics effects of interest to this work,because of its small size.We compared the mechanical torques commanded by the flight controller,i.e.,the control input,to those actually generated by the actuators and established at the aircraft.It was observed that the proposed neural network was able to closely match them,while the classic allocation matrix could not achieve that.The allocation error was also determined in both cases.Furthermore,the closed-loop performance also improved with the use of the proposed neural network control allocation,as well as the quality of the thrust and torque signals,in which we perceived a much less noisy behavior.
基金Sponsored by the China Postdoctoral Science Foundation(Grant No.2013M540857)the Fundamental Research Funds for the Central Universities(Grant No.FRF-TP-14-019A1)
文摘This paper discusses the design and implementation of a low cost multi-sensor integrated attitude determination system for small unmanned aerial vehicles( UAVs),which uses strapdown inertial navigation system( SINS) based on micro electromechanical system( MEMS) inertial sensors,commercial GPS receiver,and 3-axis magnetometer.MEMS-SINS initial attitude determination cannot be well performed for the reason that the MEMS inertial sensors biases are time-varying and poor repeatability,therefore in this paper the magnetometer and inclinometer are used to assist the MEMS-SINS initial attitude determination and MEMS inertial sensors field calibration.Furthermore,the attitude determination algorithms are presented to estimate the full attitude during GPS signal outage and non-accelerating situation.Additionally,the attitude information estimation results are compared with the reference of the non-magnetic marble platform and 3-axis turntable.Then the attitude estimation precision satisfies the requirement of attitude measurement for small UAVs during GPS signal outage and availability.Finally,the small UAV autonomous flight test results show that the low cost and real-time attitude determination system can yield continuous,reliable and effective attitude information for small UAVs.
文摘由于微种群教与学优化算法的种群规模较小,故其种群多样性很难维持.为提高微种群教与学优化算法的搜索性能,提出了一种基于多源基因学习的微种群教与学优化算法(micro-population teaching-learning-based optimization based on multi-source gene learning,MTLBO-MGL).在MTLBO-MGL算法中,将教阶段和学阶段根据随机选择策略来对个体进行基因水平上的进化操作;并从基因层面上对种群多样性进行检测和使用稀疏谱聚类方法对种群的每个维度进行聚类.然后,根据多样性检测和聚类结果,选择不同的进化策略来提高所提算法的搜索性能.在28个测试函数上,通过将所提算法与其他4种微种群进化算法作对比,证明了所提算法的整体性能要显著好于所对比的4种算法.本文还将所提算法应用于无人机三维路径规划问题,结果表明MTLBO-MGL算法能够在该问题上取得较好结果.
