Coordinated aileron and rudder control is crucial to the lateral control stability augmentation of an aircraft. In this paper, a modified non-dominated sorting genetic algorithm II is proposed to not only optimize the...
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Coordinated aileron and rudder control is crucial to the lateral control stability augmentation of an aircraft. In this paper, a modified non-dominated sorting genetic algorithm II is proposed to not only optimize the controlallocation between the aileron and rudder channels on different flying quality levels but also explore the relationships between the optimum solutions and the state variables of the aircraft. In doing so, a digital, nets-based stratification method is used to initialize the search chromosomes more evenly. To improve the search efficiency of the algorithm, crowding-distance-based interpolation and elimination strategies are developed to approach the optimum Pareto frontier as close as possible. Moreover, a dynamic depth search method is proposed to balance between the global and local explorations. Finally, the controlallocation relationships between the aileron and rudder channels on different flying quality levels are illustrated. The comparative simulations on a six-degree-of-freedom Boeing 747 model are carried out to verify the feasibility of the proposed algorithm.
This paper designs and optimizes an unmanned aerial vehicle (UAV) precision docking system based on the magnetic vector field, utilizing electromagnetic forces for contactless precision docking. This includes the spec...
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ISBN:
(纸本)9798350366907;9789887581581
This paper designs and optimizes an unmanned aerial vehicle (UAV) precision docking system based on the magnetic vector field, utilizing electromagnetic forces for contactless precision docking. This includes the specialized design of the UAV, development of an electromagnetic-permanent magnetic system, and a magnetic vector field test bench, integrating the measured magnetic field data into the UAV control in a data-driven manner. To ensure efficient and stable docking, a quadratic programming (QP) optimization is established in the controlallocation layer to redistribute throttle among the four motors. Thus, the system not only achieves stable, high-precision docking in harsh environments with minimal sensors but is also easy to deploy and adjust. Finally, the system's accuracy, robustness, and efficiency are validated through simulation.
This paper designs and optimizes an unmanned aerial vehicle(UAV) precision docking system based on the magnetic vector field, utilizing electromagnetic forces for contactless precision docking. This includes the speci...
详细信息
ISBN:
(数字)9789887581581
ISBN:
(纸本)9798350366907
This paper designs and optimizes an unmanned aerial vehicle(UAV) precision docking system based on the magnetic vector field, utilizing electromagnetic forces for contactless precision docking. This includes the specialized design of the UAV, development of an electromagnetic-permanent magnetic system, and a magnetic vector field test bench, integrating the measured magnetic field data into the UAV control in a data-driven manner. To ensure efficient and stable docking, a quadratic programming(QP) optimization is established in the controlallocation layer to redistribute throttle among the four motors. Thus, the system not only achieves stable, high-precision docking in harsh environments with minimal sensors but is also easy to deploy and adjust. Finally, the system's accuracy, robustness, and efficiency are validated through simulation.
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