[1]曾玉龙,赵龙,等.基于改进遗传算法的四旋翼无人机参数辨识[J].应用科技,2014,41(01):1-5.[doi:10.3969/j.issn.1009-671X.20130620]
 ZENG Yulong,ZHAO Long,ZHOU Jianhua.Parameter identification for quadrotor UAVs based on an improved genetic algorithm[J].Applied science and technology,2014,41(01):1-5.[doi:10.3969/j.issn.1009-671X.20130620]
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基于改进遗传算法的四旋翼无人机参数辨识(/HTML)
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《应用科技》[ISSN:1009-671X/CN:23-1191/U]

卷:
第41卷
期数:
2014年01期
页码:
1-5
栏目:
自动化技术
出版日期:
2014-02-05

文章信息/Info

Title:
Parameter identification for quadrotor UAVs based on an improved genetic algorithm
文章编号:
1009-671X(2014)01-0001-05
作者:
曾玉龙1赵龙1 2周建华1
1. 北京航空航天大学 数字导航中心,北京 100191 2. 北京航空航天大学 飞行器控制一体化技术重点实验室,北京 100191
Author(s):
ZENG Yulong1 ZHAO Long12 ZHOU Jianhua1
1. Digital Navigation Center, Beihang University, Beijing 100191, China 2. Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China
关键词:
四旋翼无人机刚体模型参数辨识遗传算法梯度算子
Keywords:
quadrotor UAV rigid body model parameter identification genetic algorithm gradient operator
分类号:
N945.14; TP23
DOI:
10.3969/j.issn.1009-671X.20130620
文献标志码:
A
摘要:
为克服传统遗传算法在参数辨识过程中收敛速度慢的问题,提出了一种基于改进遗传算法的四悬翼无人机参数辨识方法。该方法引入梯度算子为遗传进化提供指示性的方向,利用遗传算法的全局搜索性保证算法的全局收敛,并根据简化四旋翼无人机数学模型设计了优化函数。利用四悬翼无人机实飞数据进行了实验测试,实验结果验证了本文方法的有效性和快速收敛性。
Abstract:
In order to work out the low convergence speed problem in the process of parameter identification in which the genetic algorithm is adopted as the main section, a new method of parameter identification process is developed for the quadrotor UAV model, which is constructed based on an improved method of the GA process. This method introduced a gradient operator into the GA process to offer a sort of direction for algorithm evolution. The global convergence of the algorithm is guaranteed by the global search property of the GA and an optimal function is designed with the simplified quadrotor model. A test with the data gained from the actual flight experiment of the quadrotor is made and results proved the effectiveness and rapid convergence property of this method.

参考文献/References:

[1] 岳基隆. 四旋翼无人机自适应控制方法研究[D]. 长沙: 国防科学技术大学, 2010: 11-37.
[2] 吴桐, 赵健康, 杨磊. 四旋翼无人机的系统模型与辨识[J]. 计算机仿真, 2012, 29(8): 89-92.
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[4] WANG Tianmiao, WANG Liewu, LIANG Jianhong, et al. Autonomous control and trajectory tracking of quadrotor helicopter[J]. Computer and Modernization, 2012 (5): 251-255.
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[7] 金菊良, 杨晓华, 丁晶. 标准遗传算法的改进方案——加速遗传算法[J]. 系统工程理论与实践, 2001 (4): 8-13.
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[9] 于志刚, 宋申民, 段广仁. 遗传算法的机理与收敛性研究[J]. 控制与决策, 2005, 20(9): 971-980. [10] NAGATY A, SAEEDI S, THIBAULT C, et al. Control and navigation framewoek for quadrotor helicopters[J]. J Intel Robot Syst, 2013 (5): 251-255.

备注/Memo

备注/Memo:
收稿日期:2013-06-18.
基金项目:国家自然科学基金资助重点项目(61039003);国家自然科学 基金资助项目(41274038);中国航空基础科学基金资助项 目(20100851018);中国航天创新基金资助项目(CASC201102).
作者简介:曾玉龙(1988-),男,硕士研究生; 赵龙(1976-), 男,副教授,博士. 通信作者:赵龙, E-mail: flylong@buaa.edu.cn.
更新日期/Last Update: 2014-04-09