【摘要】 针对倾转旋翼无人机在倾转过程中的高度控制问题，提出一种基于灰狼优化的神经网络自适应控制方法，用于一种倾转三旋翼无人机倾转过程的飞行控制。首先，建立了无人机的非线性数字仿真模型；其次，基于神经网络自适应控制方法分别设计了无人机的高度控制器和姿态控制器，并用灰狼优化算法对神经网络的参数和控制器的参数寻优；再次，设计了倾转过程中的两种高度控制方案；最后，通过数字仿真验证了本文所提出的控制方法的有效性和鲁棒性。更多还原

【Abstract】 To solve the problem of altitude control of a tilt tri-rotor unmanned aerial vehicle(UAV)in the transition mode,this study presents a grey wolf optimization(GWO)based neural network adaptive control scheme for a tilt trirotor UAV in the transition mode. Firstly,the nonlinear model of the tilt tri-rotor UAV is established. Secondly,the tilt tri-rotor UAV altitude controller and attitude controller are designed by a neural network adaptive control method,and the GWO algorithm is adopted to optimize the parameters of the neural network and the controllers. Thirdly,two altitude control strategies are designed in the transition mode. Finally,comparative simulations are carried out to demonstrate the effectiveness and robustness of the proposed control scheme.更多还原