【摘要】 针对四旋翼无人机非线性、欠驱动、强耦合的特点,研究分析了四旋翼无人机的精确、稳定飞行控制问题,从非线性系统全状态反馈控制的角度,提出了一种基于一维云模型的智能控制方法,通过建立一维复合云模型控制器,设计了一种四旋翼无人机非线性控制系统,在线自整定控制参数以达到控制效果。在Matlab/Simulink仿真环境下,对所设计的四旋翼无人机控制系统进行了验证,并与传统控制器的控制效果进行比较。结果表明,该控制系统可以较好地实现四旋翼无人机的位置和姿态控制,保证各状态大范围渐进稳定,具有良好的适应性和鲁棒性。更多还原

【Abstract】 Aiming at the nonlinear,underactuated and strongly coupled characteristics of quadrotor UAV,the precise and stable flight control problem of quadrotor UAV is studied. From the perspective of full state feedback control of nonlinear system,an intelligent control method based on one-dimensional cloud model is proposed. By establishing a one-dimensional composite cloud model controller,a nonlinear control system of quadrotor UAV is designed,and the control parameters are self-adjusted online to achieve the control effect. Under Matlab/Simulink simulation environment,the control system of the designed quadrotor UAV is verified and compared with the control effect of the traditional controller. The results show that the control system can realize the position and attitude control of the quadrotor UAV,ensure the large-scale gradual stability of each state,and has good adaptability and robustness.更多还原