novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.27.373-382novtexmech-2056Research ArticleДИНАМИКА, БАЛЛИСТИКА, УПРАВЛЕНИЕ ДВИЖЕНИЕМ ЛЕТАТЕЛЬНЫХ АППАРАТОВDYNAMICS, BALLISTICS AND CONTROL OF AIRCRAFTСинтез системы стабилизации углового движения квадрокоптера методом роевой оптимизацииSynthesis of Quadrotor Angular Motion Stabilization System Using Particle Swarm OptimizationШонК. Б.SonK. B.

К. Б. Шон, аспирант

г. Ханой

K. B. Son, Postgraduate Student

236 Hoang Quoc Viet Street, Hanoi

kbichson@lqdtu.edu.vnТиенВ. Х.TienV. H.

В. Х. Тиен, канд. техн. наук, доц.

г. Ханой

V. H. Tien, PhD, Associate Professor

236 Hoang Quoc Viet Street, Hanoi

hoatien57@lqdtu.edu.vnТиньК. Х.TinhC. H.

К. Х. Тинь, канд. техн. наук, преподаватель

г. Ханой

C. H. Tinh, PhD, Lecturer

236 Hoang Quoc Viet Street, Hanoi

caohuutinh@lqdtu.edu.vnТехнический университет Ле Куи ДонВьетнамLe Quy Don Technical UniversityViet Nam202620072026277373382Copyright © Commercial Publisher «New Technologies», 20262026Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/2056

Предлагается процедура синтеза робастного регулятора с формированием частотных характеристик (loop shaping) в структуре с двумя степенями свободы, основанная на применении алгоритма роя частиц (Particle Swarm Optimization, PSO). Целью является обеспечение заранее заданных требований к качеству управления как во времен-

ной, так и в частотной областях. Основная идея заключается в использовании обобщенной весовой функции вместо простой функции первого порядка, что обеспечивает большую гибкость при проектировании регулятора. Коэффициенты этой обобщенной весовой функции рассматриваются как параметры задачи оптимизации с ограничениями. Благодаря сочетанию преимуществ робастного управления с loop shaping и высокой вычислительной эффективности алгоритма PSO в процессе проектирования синтезированный регулятор обладает высокой устойчивостью к значительным изменениям параметров системы, снижает перерегулирование, сокращает время переходного процесса и повышает способность подавления возмущений. Результаты моделирования на примере задачи управления ориентацией квадрокоптера показывают, что предложенный регулятор обеспечивает требуемое качество при сложных условиях полета. Кроме того, характеристики качества и робастности полученного решения сравниваются с регулятором, синтезированным с использованием метода NOMAD (Nonlinear Optimization with Mesh Adaptive Direct search).

This paper proposes a synthesis procedure for a two-degree-of-freedom (2DOF) robust loop-shaping controller using the Particle Swarm Optimization (PSO) algorithm. The controller is designed to satisfy predefined performance constraints in both time and frequency domains. А key idea is the use of a generalized weighting function instead of a simple first-order one. This provides a more flexible framework for controller design. Coefficients of this generalized function are treated as decision variables in a constrained optimization problem. By integrating strengths of 2DOF robust loop shaping with computational capabilities of PSO in a closed-loop design, the synthesized controller demonstrates high robustness to significant system parameter variations. In addition, it helps reduce overshoot, shorten settling time, and improve disturbance rejection. Simulation results from a quadrotor attitude control system indicate that the proposed controller can provide robust performance under complex flight conditions. Moreover, its performance and robustness are validated through comparison with a controller designed using the NOMAD (Nonlinear Optimization with Mesh Adaptive Direct search)

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The authors declare that there are no conflicts of interest present.