High-precision trajectory tracking control of helicopter based on ant colony optimization-slime mould algorithm
Binwu Ren, Siliang Du, Zhuangzhuang Cui, Yousong Xu, Qijun ZHAO · Chinese Journal of Aeronautics · 2024
To achieve high-precision trajectory following during helicopter maneuver tasks and reduce the disruptive influences of unknown variabilities, this study introduces a cascaded-loop helicopter trajectory tracking controller, whose parameters are set using an Ant Colony Optimization-Slime Mould Algorithm (ACO-SMA). Initially, a nonlinear flight dynamics model of the helicopter is constructed. Observer gain functions and nonlinear feedback from a vibrational suppression function to improve the tracking performance of the controller, addressing issues in disturbance estimation and compensation of the Active Disturbance Rejection Control (ADRC). Simultaneously, a cascaded loop system, comprising an internal attitude loop and an external position loop, is created, and the ant colony-slime mold hybrid algorithm optimizes the system parameters of the trajectory tracking controller. Finally, helicopter trajectory tracking simulation experiments are conducted, including spiral ascending and “8″ shape climbing maneuvers. The findings indicate that the ADRC employed for helicopter trajectory tracking exhibits outstanding performance in rejecting disturbances caused by gusts and accurately tracking trajectories. The trajectory tracking controller, whose parameters are optimized by the ACO-SMA, shows higher tracking precision compared to the conventional PID and ADRC, thereby substantially improving the precision of maneuver tasks.