Small unmanned helicopter's attitude controller by an on-line adaptive fuzzy control system  

作　　者：GAO Tong-yue RAO Jin-jun GONG Zhen-bang LUO Jun 

机构地区：[1]Department of Precision Mechanical Engineering, Shanghai University, Shanghai 200072, P. R. China

出　　处：《重庆邮电大学学报（自然科学版）》2009年第2期148-153,共6页Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition)

基　　金：sponsored by The National High-tech Research and Development Program(Project No.2007AA041503 and 2007AA404260);the Research Program of Shanghai Science and Technology Committee (Project No.07dz05813);State Leading Academic Discipline,Shanghai Leading Aca-demic Discipline

摘　　要：Since small unmanned helicopter flight attitude control process has strong time-varying characteristics and there are random disturbances,the conventional control methods with unchanged parameters are often unworkable.An on-line adaptive fuzzy control system(AFCS)was designed,in a way that does not depend on a process model of the plant or its approximation in the form of a Jacobian matrix.Neither is it necessary to know the desired response at each instant of time.AFCS implement a simultaneous on-line tuning of fuzzy rules and output scale of fuzzy control system.The two cascade controller design with an inner(attitude controller)and outer controller(navigation controller)of the small unmanned helicopter was proposed.At last,an attitude controller based on AFCS was implemented.The flight experiment showed that the proposed fuzzy logic controller provides quicker response,smaller overshoot,higher precision,robustness and adaptive ability.It satisfies the needs of autonomous flight.Since small unmanned helicopter flight attitude control process has strong time-varying characteristics and there are random disturbances, the conventional control methods with unchanged parameters are often unworkable. An on-line adaptive fuzzy control system （AFCS） was designed, in a way that does not depend on a process model of the plant or its approximation in the form of a Jacobian matrix. Neither is it necessary to know the desired response at each instant of time. AFCS implement a simultaneous on-line tuning of fuzzy rules and output scale of fuzzy control system. The two cascade controller design with an inner （ attitude controller） and outer controller （ navigation controller） of the small unmanned helicopter was proposed. At last, an attitude controller based on AFCS was implemented. The flight experiment showed that the proposed fuzzy logic controller provides quicker response, smaller overshoot, higher precision, robustness and adaptive ability. It satisfies the needs of autonomous flight.

关 键 词：自适应模糊控制系统 无人驾驶直升机 模糊控制器 在线调整 时间变化 雅可比矩阵 自适应能力 随机干扰 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程]