【摘要】 针对四旋翼飞行器提出一种基于模糊自适应控制的自适应轨迹跟踪控制算法。在外界气流及姿态转动模型干扰的影响下,保证了位置及姿态角可以快速、精准地进行轨迹跟踪。位置控制器为解决飞行器在外界干扰下失衡或反应不灵敏的问题,设计自适应算法,提高了飞行器对外界干扰离的适应性。姿态控制器为消除转动干扰力矩的问题,设计模糊自适应控制算法,对干扰进行模糊化并根据扰动的强弱而调节模糊输出的大小。利用Lyapunov理论,证明整个闭环系统全局渐近稳定。仿真结果表明,该控制器对外界干扰具有较强的鲁棒性。更多还原

【Abstract】 An adaptive trajectory tracking control algorithm based on adaptive fuzzy equipment is proposed for fourrotor aircraft. In the presence of exogenous aerodynamic disturbance and angle rotational interference,it guaranteed that the position and angle could track the reference signal speedily and precisely. In order to solve the problem of unbalance or insensitivity of aircraft under external disturbance,an adaptive algorithm was designed for the position subsystem to suppress disturbance force. The fuzzy adaptive algorithm was designed to blur the disturbance and regulate fuzzy output according to the disturbance. By virtue of Lyapunov theory,the global asymptotic stability of the overall closed-loop system was proved. Simulation results indicate that the controller has strong robustness to external disturbances.更多还原