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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.

     

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出版历程
  • 收稿日期:  2013-07-04
  • 刊出日期:  2014-06-20

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