Active disturbance rejection attitude control of unmanned quadrotor via paired coevolution pigeon-inspired optimization

Abstract

Purpose The purpose of this paper is to develop a novel active disturbance rejection attitude controller for quadrotors and propose a controller parameters identification approach to obtain better control results. Design/methodology/approach Aiming at the problem that quadrotor is susceptible to disturbance in outdoor flight, the improved active disturbance rejection control (IADRC) is applied to design attitude controller. To overcome the difficulty that adjusting the parameters of IADRC controller manually is complex, paired coevolution pigeon-inspired optimization (PCPIO) algorithm is used to optimize the control parameters. Findings The IADRC, where nonlinear state error feedback control law is replaced by non-singular fast terminal sliding mode control law and a third-order tracking differentiator is designed for second derivative of the state, has higher control accuracy and better robustness than ADRC. The improved PIO algorithm based on evolutionary mechanism, named PCPIO, is proposed. The optimal parameters of ADRC controller are found by PCPIO with the optimization criterion of integral of time-weighted absolute value of the error. The effectiveness of the proposed method is verified by a series of simulation experiments. Practical implications IADRC can improve the accuracy of attitude control of quadrotor and resist external interference more effectively. The proposed PCPIO algorithm can be easily applied to practice and can help the design of the quadrotor control system. Originality/value An improved active disturbance rejection controller is designed for quadrotor attitude control, and a hybrid model of PIO and evolution mechanism is proposed for parameters identification of the controller.

A review of quadrotor control methods

“…The authors in [52] introduced an improved active disturbance control(IADRC) attitude, which adopted third order tracking differentiator and novel non-singular fast terminal sliding mode to improve , it have been proven that more resistant to interference than traditional ADRC and PID controller. A linear active disturbance control is presented for attitude controller, Which removed the tracking differentiator and adopted a linear extended state observer (LESO) to enhance regulation ability [53].…”

Extended search pigeon-inspired optimized MPPT controller for solar quadcopter

“…The basic PIO is always trapped in the local optimal solution (Yuan and Duan, 2021; Tong et al , 2022). Some improvement measures are introduced to overcome this problem and the new improved PIO algorithm is called the ESPIO algorithm.…”

“…The pigeon-inspired optimization (PIO) (Duan et al , 2015) is one of the bioinspired algorithms, inspired by the homing behaviors of pigeon swarms (Huo et al , and2021). This algorithm has been used in UAV path planning (Hu et al , 2019), parameters identification (Yuan and Duan, 2021), formation control (Bai et al , 2022) and so on (Duan and Qiu, 2019) because of its fast convergence ability and easy for extensibility. The main works of this paper are expressed as follows: A type of solar quadcopter design is discussed.…”

Target tracking and enclosing via UAV/UGV cooperation using energy estimation pigeon-inspired optimization and switchable topology

“…As a new algorithm, pigeon-inspired optimization (PIO) conducts group cooperation by imitating the homing behaviors of pigeons (Duan and Qiao, 2014). The PIO has been applied in many research fields with high convergence speed and good stability (Chen and Duan, 2017; Li and Deng, 2019; Yuan and Duan, 2021). However, the shortcomings of the standard PIO limit its further application.…”