欠驱动四旋翼飞行器反演模糊自适应控制  

Adaptive Fuzzy Backstepping Control for Underactuated Quadrotor UAV

作　　者：杨立本[1] 章卫国[1] 黄得刚 车军 

机构地区：[1]西北工业大学自动化学院,陕西西安710072 [2]飞行器控制一体化技术重点实验室中航工业自控所,陕西西安710065

出　　处：《西北工业大学学报》2015年第3期495-499,共5页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(61374032);航空科学基金(20140753012)资助

摘　　要：针对欠驱动四旋翼飞行器的结构特性,提出一种自适应模糊反演欠驱动控制算法,该算法可以克服传统反演控制中存在的问题,如欠驱动控制律过于复杂,抗干扰能力弱及系统建模误差对跟踪性能影响较大等弱点,该算法利用自适应模糊系统逼近系统中的非线性函数及扰动项,并利用模糊系统来构造系统的虚拟控制量,从而实现对欠驱动四旋翼飞行器的高精度控制,并以欠驱动四旋翼飞行器的自由度x为例,详细论述了自适应模糊系统的设计过程,并对算法的收敛性做了分析,仿真结果表明,该算法具有很强的抗干扰性,并且达到了理想的控制精度。This paper introduces an adaptive fuzzy backstepping control strategy for underactuated quadrotor UAV. The strategy can overcome some shortcomings of traditional backstepping control method, such as the underactuated control law is too complex, tracking performance is sensitive to modeling errors and weak antiinterference ability etc. In order to achieve high precision control of the underactuated quadrotor UAV, the algorithm uses the adaptive fuzzy system to estimate the nonlinear function and the interference and to use the fuzzy system to structure virtual control law of the system. Taking the x axis of the underactuated quadrotor UAV as an example, we discuss in detail the design procedure of control law. The controller＆#39;s stability is analyzed. The simulation results and their analysis show preliminarily that the proposed approach can guarantee the control accuracy and has a strong robustness.

关 键 词：执行器 自适应控制系统 算法 飞行器 角速度 反步 计算机仿真 控制器设计 误差 模糊控制 干扰抑制 李雅普诺夫方程 数学模型 鲁棒性(控制系统) 示意图 稳定性 无人机 自适应模糊系统 抗干扰 建模误差 欠驱动飞行器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]