基于GA-Vague-PID的小型四旋翼飞行器姿态控制方法  

Attitude Control for the Small Quadrotor Aircraft Based on GA-Vague-PID

作　　者：李杰[1] 齐晓慧[1] 韩帅涛[1] 

机构地区：[1]军械工程学院光学与电子工程系,河北石家庄050003

出　　处：《自动化技术与应用》2013年第3期1-6,共6页Techniques of Automation and Applications

基　　金：装备预研基金项目(编号9140A25070509JB3405)

摘　　要：针对小型四旋翼飞行器的姿态控制问题,提出了基于GA-Vague-PID的姿态控制方法。建立了小型四旋翼飞行器数学模型,引入遗传算法(Genetic Algorithm,GA)和Vague技术,通过GA对模糊控制规则离线优化,利用基于Vague集相似度量推理在线调节PID参数,进而提出GA-Vague-PID控制方法并运用于小型四旋翼飞行器姿态控制。仿真结果表明,该控制方法在控制性能和适应能力上都优于传统PID。A kind of attitude control method for the small quadrotor aircraft based on GA-Vague-PID is proposed in tills paper, l ne model of the small quadrotor aircraft is built, and Genetic Algorithm by which the fuzzy inference rules can be optimized off-line and vague technique through which the three parameters of classical PID can be adjusted on-line with measures of similarity reasoning using vague sets are introduced. Then GA-Vague-PID is proposed and applied on attitude control for the small quadrotor aircraft. The simulation results show that the above method is superior to classical PID both on performance and adaptability.

关 键 词：小型四旋翼飞行器 姿态控制 遗传算法 Vague集相似度量推理 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]