Ducted unmanned aerial vehicle anti-sway method based on optimized quadratic form control of artificial bee colony

Abstract

A ducted unmanned aerial vehicle anti-sway method based on optimized quadratic form control of artificial bee colony includes eight steps: 1, the mathematical model for pendulum oscillation is built; 2, control structure and control law are designed; 3, the parameters of the artificial bee colony algorithm and the employed bee colony are initialized; 4, the performance indicator function of the linear quadratic form is calculated according to individual parameters; 5, worker bees select bee individuals with better fitness as leading bees according to the fitness value of each employed bee, and each worker bee continues to seek for honey sources near the leading bee solution space and the fitness value is calculated; 6, if the number of searches Bas is greater than the set threshold, the employed bees seek for new honey sources again, namely parameter values are initialized again; 7, by the greedy selection method, the positions of the employed bees are updated with larger fitness values, and searches proceed near solution spaces; and 8, the Step 4 is carried out repeatedly until T > Tmax, and the optimum component weighted value parameter, the optimum feedback gain matrix and the optimum fitness value are output.

Description

(1) Technical field [0001] The invention relates to a ducted unmanned aerial vehicle swing elimination method based on artificial bee colony (Artificial Bee Colony, ABC) optimized quadratic control, which belongs to the intersection field of optimal control theory and bionic intelligent algorithm. (2) Background technology [0002] An unmanned aircraft (Unmanned Aerial Vehicle, UAV) is an unmanned, reusable aerial vehicle on board, also known as a drone or a remote-controlled aircraft. Unmanned aerial vehicles (UAVs) were born in the 1920s. After the Gulf War in 1991, they were developed rapidly and widely used. Most of the UAV systems currently in use adopt a conventional fixed-wing aerodynamic layout; take off by sliding, hand-throwing, or ejection from a special launcher; and use methods such as skimming or hovering to detect and monitor targets. In complex urban or mountainous combat environments, it is difficult for traditional UAVs to obtain tactical information. The...

AI Technical Summary

Problems solved by technology

As a new heuristic bionic intelligent optimization algorithm, the research on the artificial bee colony algorithm has been extended to combinatorial optimization problems such as workshop scheduling, and many new progresses have been made. At the same time, some emerging bionic optimization algorithms have many other applications. We need to dig further

Images