Attitude Optimization Control of Unmanned Helicopter in Coal Mine Using Membrane Computing

Abstract

Unmanned helicopter for mission inspection has good application value in intelligent coal mining, and attitude control is important. In this paper, membrane computing is introduced to realize attitude optimization control of an unmanned helicopter. First, we give the application scenarios of unmanned helicopters in coal mines. Secondly, we establish a dynamic model of an unmanned helicopter with environmental participation, and the attitude model of the helicopter is deduced based on this model. Further, the cellular membrane system suitable for the attitude model of an unmanned helicopter under the control parameters of environment mapping is constructed, and the cellular membrane controller based on the characteristics and operation rules of the membrane system is designed. The robust performance of the controller is proved theoretically, and by the semiphysical experiments, the performance of trajectory tracking is almost consistent and attitude angle control is less than±1°, in the range of±2°by wind disturbance. Compared with the linear feedback controller in the same experimental environment, the performance of the membrane controller is improved by nearly 0.4026 on average. It shows that the cellular membrane controller constructed has good effectiveness and robustness. This will provide a good application value for membrane computing in the field of accurate coal mining.