Research On Control Allocation Based On Grey Wolf Optimizer Algorithm For The UAV Multiple Actuators

The control allocation is one of the common methods used to solve the problem of control redundancy of aircraft with multiple actuators.The purpose is to assign control instructions to each actuator reasonably under certain constraints,so as to improve the control performance of the aircraft.In this paper,the traditional gray wolf algorithm is improved,and it is applied to solve the problems of control law parameter design,control allocation,reconfigurable control allocation and multi-objective control allocation.Firstly,the traditional grey wolf algorithm has the shortcomings of slow convergence speed and easy to fall into the local optimal,therefore,an improved grey wolf algorithm is proposed.The proposed algorithm improves the linear updating mode of convergence factor to exponential function updating mode,so as to improve the convergence speed and accuracy of the algorithm.And the algorithm is used for the parameter design of linear quadratic optimal control law.The simulation results show the effectiveness of the proposed algorithm.Secondly,the success rate of traditional grey wolf algorithm is low and it is easy to fall into local optimum,therefore,a weight grey wolf algorithm is proposed.The proposed algorithm improves the convergence factor,that is,replacing the original linear updating method with the quadratic function updating method,enhances the exploration ability of the algorithm,and adds the weight coefficient in the population updating method,which makes the algorithm more focused in the solution process and speeds up the convergence speed.Considering that the new algorithm is used to solve the control allocation problem,the appropriate objective function is selected to ensure that the actuator completes the task.In addition,the actuator failure is considered,and the weight grey wolf algorithm is used to solve the reconfigurable control allocation problem.The simulation results show the effecti veness of the proposed algorithm.At last,the hybrid gray wolf algorithm is proposed to deal wih the multi-objective control allocation problem.This algorithm combines the advantages of particle swarm optimization and gray wolf algorithm in the way of population renewal and exploration ability.And the linear weighting method and non-inferior optimal solution strategy are used to multi-objective control allocation problem,respectively.The simulation results show that the proposed method is feasible to solve the multi-objective control allocation problem for aircraft with multiple actuators.