【作者】 郑祥明； 昂海松；

【Author】 Xiangming Zheng Haisong Ang(College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016)

【机构】 南京航空航天大学航空宇航学院；

【摘要】 微型飞行器(MAV)的自主飞行控制是目前国内外微型飞行器研究领域正在积极开展的一项研究。由于MAV具有自身尺寸微小,飞行环境复杂多变等特点,传统的飞行控制技术已非常不适用。本文采用了一种更简单高效的控制思想,即基于行为的控制策略,并将模糊控制技术融入其中,建立了—个基于模糊行为的MAV自主飞行控制系统。在基于模糊行为的自主飞行控制系统中,我们提出了一种基于MAV飞行状态张量的行为仲裁方法。实践证明这种相对简单直接的控制技术对于MAV来说是更为合适的。更多还原

【Abstract】 The technique of autonomic flight control for Micro air vehicle (MAV) is being researched in universal research area. Because of its micro size and the complexity and variability of its working environment, those traditional flight control techniques can’t be fit for Micro air vehicles. So we propose behavior-based algorithm, which is relatively simpler and more effective. Furthermore, we introduce fuzzy techniques into the algorithm and build a fuzzy behavior-based flight control system for micro air vehicles. In this control system, we first use Tensor of flight state-based principle for coordination of the control behaviors. Experiments prove that this kind of control technique that is relatively simplification and directness is more suitable to MAV.更多还原