基于ACP理论的微型扑翼飞行器的姿态控制  

Attitude Control for Flapping Wing Micro Aerial Vehicle Based on ACP Theory

作　　者：金龙 李嘉昌 常振强 卢经纬 程龙[3] JIN Long;LI Jia-Chang;CHANG Zhen-Qiang;LU Jing-Wei;CHENG Long(School of Information Science and Engineering,Lanzhou University,Lanzhou 730000;Academy of Plateau Science and Sustainable Development,Xining 810008;State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190)

机构地区：[1]兰州大学信息科学与工程学院,兰州730000 [2]高原科学与可持续发展研究院,西宁810008 [3]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190

出　　处：《自动化学报》2023年第12期2532-2543,共12页Acta Automatica Sinica

基　　金：国家自然科学基金(62176109);甘肃省自然科学基金(21JR7RA531,22JR5RA487);中央高校基本科研业务费项目(lzujbky-2023-ct05,lzujbky-2023-ey07);兰州大学超级计算中心资助。

摘　　要：微型扑翼飞行器(Flapping wing micro aerial vehicle,FWMAV)因飞行效率高、质量轻、耗能低、机动性强等显著优点,在飞行器研究和应用中占据重要地位.目前,FWMAV姿态控制成为飞行器控制研究领域的研究热点.针对FWMAV姿态控制问题,基于平行智能理论框架提出了一种FWMAV抗扰动姿态控制器.通过建立人工系统(Artificial systems,A)、计算实验(Computational experiments,C)、平行执行(Parallel execution,P)三个过程,得到一个能够有效解决FWMAV姿态控制过程中扰动问题的控制器,并通过理论分析和数值仿真证明了该控制器的有效性.Flapping wing micro aerial vehicle(FWMAV)plays an important role in the research and application of aircraft,due to its significant advantages,such as high flight efficiency,low weight,low energy conservation,high flexibility and so on.Currently,the attitude trajectory tracking control of FWMAV has become a research hotspot in the field of aircraft control.To this end,an anti-disturbance controller based on parallel intelligence theory is proposed in this paper.Specifically,via the construction of artificial systems(A),computational experiments(C),and parallel execution(P),the proposed controller can effectively address the disturbance issue in FWMAV attitude tracking.Moreover,the effectiveness and feasibility of the proposed controller are proved by theoretical analyses and numerical simulations.

关 键 词：微型扑翼飞行器 姿态控制 神经动力学 平行智能 

分 类 号：V276[航空宇航科学与技术—飞行器设计] V249.1