留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

无人机全包线模糊鲁棒跟踪控制

刘智 王勇

刘智, 王勇. 无人机全包线模糊鲁棒跟踪控制[J]. 北京航空航天大学学报, 2014, 40(6): 762-768. doi: 10.13700/j.bh.1001-5965.2013.0396
引用本文: 刘智, 王勇. 无人机全包线模糊鲁棒跟踪控制[J]. 北京航空航天大学学报, 2014, 40(6): 762-768. doi: 10.13700/j.bh.1001-5965.2013.0396
Liu Zhi, Wang Yong. Fuzzy robust tracking control within full envelope for unmanned aerial vehicle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(6): 762-768. doi: 10.13700/j.bh.1001-5965.2013.0396(in Chinese)
Citation: Liu Zhi, Wang Yong. Fuzzy robust tracking control within full envelope for unmanned aerial vehicle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(6): 762-768. doi: 10.13700/j.bh.1001-5965.2013.0396(in Chinese)

无人机全包线模糊鲁棒跟踪控制

doi: 10.13700/j.bh.1001-5965.2013.0396
详细信息
    作者简介:

    刘 智(1986- ),男,山东泰安人,博士生,liuzhi747@gmail.com.

  • 中图分类号: V249

Fuzzy robust tracking control within full envelope for unmanned aerial vehicle

  • 摘要: 针对无人机大包线飞行中气动特性大幅变化以及存在参数不确定性和外界干扰等特点,设计全包线模糊鲁棒跟踪控制器.通过模糊c-均值聚类建立逼近全包线动态的模糊T-S(Takagi-Sugeno)模型.基于高度和空速跟踪增广系统,根据保性能控制理论,采用广义系统的模糊Lyapunov函数方法,以线性矩阵不等式形式给出全包线模糊鲁棒跟踪控制器参数的约束条件,保证广义系统稳定.并最小化扰动抑制度来优化控制参数.该控制器既降低了控制保守性,又减小了参数求解的复杂度.仿真表明,无人机在整个飞行包线内能够精确地跟踪空速和高度参考指令,对参数不确定和外界干扰具有强鲁棒性.

     

  • [1] Adams R J, Buffington J M,Banda S S.Gain scheduled linear PID autopilot for the AIAA controls design challenge aircraft[C]//AIAA Guidance,Navigation and Control Conference and Exhibit.Hilton Head Island,South Carolina:AIAA,1992: 1548-1558
    [2] Huang Y Q, Sun C Y,Qian C S,et al.Polytopic LPV modeling and gain-scheduled switching control for a flexible air-breathing hypersonic vehicle[J].Journal of System Engineering and Electronics,2013,24(1):118-127
    [3] Hou Y Z, Wang Q,Dong C Y.Gain scheduled control: switched polytopic system approach[J].Journal of Guidnace,Control,and Dynamics,2011,34(2):623-628
    [4] Gao Q, Zeng X J,Feng G,et al.T-S fuzzy model based approximation and controller design for general nonlinear systems[J].IEEE Transactions on Systems,Man,and Cybernetics,Part B:Cybernetics,2012,42(4):1143-1154
    [5] Hu X, Wu L,Hu C,et al.Fuzzy guaranteed cost tracking control for a flexible air-breathing hypersonic vehicle[J].IET Control Theory and Applications,2012,6(9):1238-1249
    [6] Tanaka K, Ohtake H,Wang H O.Fuzzy model-based servo and model following control for nonlinear systems[J].IEEE Transactions on Systems,Man,and Cybernetics,Part B:Cybernetic,2009,39(6):1634-1639
    [7] Tanaka K, Hori T,Wang H O.A multiple Lyapunov function approach to stabilization of fuzzy control systems[J].IEEE Transactions on Fuzzy Systems,2003,11(4):582-589
    [8] Oliverira J V, Pedrycz W.Advances in fuzzy clustering and its applications[M].Chichester:John Wiley & Sons,2007:252-253
    [9] Khalil H K. Nonlinear systems[M].3rd ed.Englewood Cliffs:Prentice-hall,2002:174-180
    [10] 俞立. 鲁棒控制-线性矩阵不等式处理方法[M].北京:清华大学出版社,2002:250-258 Yu Li.Robust control-LMI approach[M].Beijing:Tsinghua University Press,2002:250-258(in Chinese)
  • 加载中
计量
  • 文章访问数:  1274
  • HTML全文浏览量:  225
  • PDF下载量:  659
  • 被引次数: 0
出版历程
  • 收稿日期:  2013-07-04
  • 网络出版日期:  2014-06-20

目录

    /

    返回文章
    返回
    常见问答