北京航空航天大学学报 ›› 2003, Vol. 29 ›› Issue (12): 1133-1135.

• 论文 • 上一篇    下一篇

无人直升机的动态逆模糊集成控制

沈毅1, 于晓敏2, 李爱军3   

  1. 1. 西北工业大学 飞机系, 西安 710072;
    2. 空军上海地区军代表室, 上海 200233;
    3. 西北工业大学 自动控制系, 西安 710072
  • 收稿日期:2003-06-20 出版日期:2003-12-31 发布日期:2010-09-21
  • 作者简介:沈 毅(1960-),男,哈尔滨人,博士生, yemonaduo@sohu.com.

Dynamic reverse and fuzzy integrated control of unmanned helicopters

Shen Yi1, Yu Xiaomin2, Li Aijun3   

  1. 1. Dept. of Aircraft Engineering, Northwestern Polytechnical University, Xi'an 710072, China;
    2. Military Representatives Office of Air Force, Shanghai 200233, China;
    3. Dept. of Automatic Control, Northwestern Polytechnical University, Xi'an 710072, China
  • Received:2003-06-20 Online:2003-12-31 Published:2010-09-21

摘要: 对于一个非线性系统,利用其近似的线性化模型求出系统的近似逆,采用模糊控制方法抑制误差对系统输出的影响来保证系统的最终特性,构成一种动态逆模糊集成控制方案.将这一方法应用在无人直升机的姿态控制中,仿真结果表明该方法可以消除无人机未建模动态和不确定性的影响,具有较好的鲁棒性能.

Abstract: To nonlinear system, the approximate reverse of the system was extracted using its approximate linearized model and the fuzzy control was employed to restrain the effect the error produces on the system so as to guarantee the terminal performance of the system, thus constituting a plan of dynamic reverse and fuzzy integrated control. This method was applied to the attitude control of unmanned helicopters and it can, in accordance with the simulation results, remove uncertain effects unmanned helicopters bring about, being provided with better robustness.

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