论文标题
PIDA：使用随机双单纯形算法和遗传滤波器的平滑而稳定的飞行
PIDA: Smooth and Stable Flight Using Stochastic Dual Simplex Algorithm and Genetic Filter
论文作者
论文摘要
本文提出了一种新的比例综合衍生成加速器（PIDA）控制，并通过衍生滤镜来改善噪音环境中四肢飞行稳定性。数学模型来自具有具有高水平忠诚度的准确模型，通过解决非线性，不确定性和耦合的问题。这些不确定性和测量噪声会导致飞行和自动盘旋的不稳定。与启发式遗传过滤器（GF）相关的提议的控制器解决了这些挑战。通过随机双单纯形算法（SDSA）执行与控制目标相关的提议的PIDA控制器的调整。 GF应用于PIDA控制，以估算态度和高度的四肢的观察到的状态和参数。仿真结果表明，与GF相关的建议控制具有很强的能力，可以在存在干扰的情况下跟踪所需点。
This paper presents a new Proportional-Integral-Derivative-Accelerated (PIDA) control with a derivative filter to improve quadcopter flight stability in a noisy environment. The mathematical model is derived from having an accurate model with a high level of fidelity by addressing the problems of non-linearity, uncertainties, and coupling. These uncertainties and measurement noises cause instability in flight and automatic hovering. The proposed controller associated with a heuristic Genetic Filter (GF) addresses these challenges. The tuning of the proposed PIDA controller associated with the objective of controlling is performed by Stochastic Dual Simplex Algorithm (SDSA). GF is applied to the PIDA control to estimate the observed states and parameters of quadcopters in both attitude and altitude. The simulation results show that the proposed control associated with GF has a strong ability to track the desired point in the presence of disturbances.
