基于PSO-Fuzzy-PID的四旋翼飞行器悬停控制
Hover Control for the Quadrotor Aircraft Based on PSO-Fuzzy-PID

为解决四旋翼控制系统和外部环境发生变化时的悬停控制问题，提出了粒子群优化模糊自适应PID控制策略。建立了四旋翼的数学模型，引入了粒子群优化算法(Particle Swarm Optimization, PSO)和模糊自适应PID控制(Fuzzy adaptive PID control)，通过粒子群算法对模糊自适应PID控制在线优化来整定PID控制参数，进而提出PSO-Fuzzy-PID控制方法并应用于四旋翼的悬停控制中。MATLAB仿真结果表明，相较于传统PID控制、模糊自适应PID控制，本文中设计的控制方法具有更好的控制性能和适应能力。
In order to suit the changes of quadrotor aircraft control system and the outside environment, a kind of hover control method for the quadrotor aircraft based on PSO-Fuzzy-PID is proposed in this paper. The model of the quadrotor aircraft is built, and the PSO-Fuzzy-PID control method, composed of particle swarm optimization algorithm and fuzzy adaptive PID control method, is in-troduced to control the hover of the quadrotor aircraft, adjusting the three parameters of fuzzy adaptive PID online by particle swarm optimization algorithm. The MATLAB simulation results show that the above method is superior to classical PID control method and fuzzy adaptive PID control method both on performance and adaptability.