无人直升机的动态逆模糊集成控制

沈毅; 于晓敏; 李爱军

无人直升机的动态逆模糊集成控制

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

详细信息

中图分类号: V 2491
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出版历程
- 收稿日期: 2003-06-20
- 网络出版日期: 2003-12-31

Dynamic reverse and fuzzy integrated control of unmanned helicopters

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

摘要

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.
- 模糊控制论 /
- 姿态控制 /
- 动态逆 /
- 无人直升机
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.
- fuzzy control theory /
- attitude control /
- dynamic reverse /
- unmanned helicopter

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参考文献(1)

[1] Prasad J V R, Calise A J. Adaptive nonlinear controller synthesis and flight test evaluation on an unmanned helicopter .In:IEEE International Conference on Control Application , 1999.56~60 [2] Antony Snell S,Perry W Stout. Robust longitudinal control design using dynamic inversion and quantitative feedback theory[J].Journal of Guidance,Control,and Dynamics, 1997,20(5):933~940 [3] Jacob Reiner, Gary J Balas. Robust dynamic inversion for control of highly maneuverable aircraft[J].Journal of Guidance, Control, and Dynamics ,1995,18(1):18~24 [4] 章卫国．模糊集成与自适应模糊控制理论及其应用研究 .西安:西北工业大学自动控制系,1997 Zhang Weiguo.Theory of the fuzzy integration and self-adaptive fuzzy control . Xi'an:Dept. of Automatic Control, Northwestern Polytechnical University,1997(in Chinese)

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