基于改进事件触发机制的四旋翼飞行器输出反馈模糊控制  

Output feedback fuzzy control of quadrotors based onimproved event-triggered mechanism

作　　者：王紫燕 高闯[1] WANG Ziyan;GAO Chuang(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁鞍山114051

出　　处：《辽宁科技大学学报》2024年第3期197-203,共7页Journal of University of Science and Technology Liaoning

基　　金：辽宁省教育厅项目(JYTMS20230950)。

摘　　要：为了提高四旋翼飞行器姿态跟踪控制精度,减少通讯开销,节约控制成本,本文建立四旋翼飞行器动力学模型,采用模糊状态观测器估计飞行器状态,解决非线性和不确定性问题,结合改进型事件触发机制设计姿态跟踪控制器,实现飞行器在不同姿态下的精确控制和稳定飞行。仿真结果验证了本文控制方法的有效性。In order to improve the attitude tracking control accuracy of quadrotor,reduce the communication overhead and save the control cost,a quadrotor dynamics model is designed.Adopting a fuzzy state observer to estimate the state of the vehicle,it can solve the problem of nonlinearity and uncertainty.Combining with the improved event-triggered mechanism to design the attitude tracking controller,the precise control and stable flight of the vehicle under different attitudes can be realized.The simulation results verify the effectiveness of the control method in this paper.

关 键 词：四旋翼飞行器 姿态跟踪控制 模糊观测器 事件触发机制 反步法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]