PID Parameter Optimization Design of Quadrotor UAV Based on Improved Sparrow Search Algorithm
A PID parameter optimization method based on the improved sparrow search algorithm is proposed for the control system of quadcopter drones,which is complex,time-consuming,and difficult to ensure optimal manual tuning of PID controller parameters.Firstly,Piecewise chaos map was introduced for enhancing the uniformity of the initial population distribution;Secondly,dynamic inertia weight was added into the explorer position update formula,so as to promote the global optimization performance of the algorithm;Finally,the adaptive hybrid variation strategy and historical optimal value were combined to strengthen the diversity of variation,and to improve the search efficiency and accuracy of the algorithm.The simulation results show that compared to the standard sparrow search algorithm,particle swarm optimization algorithm,and genetic algorithm,optimizing the parameters of the cascade PID controller using the improved sparrow search algorithm can make the control system have faster response speed and higher steady-state accuracy.
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万方数据
维普
