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针对含有未建模动态的微小型直升机非线性模型,设计了基于反步法和自适应模糊系统的自主飞行控制器。该控制器包含两个回路:航迹控制外回路和姿态控制内回路。外回路通过旋转矩阵实现对内回路姿态的控制,而非传统的欧拉角或姿态四元数。控制器采用自适应Takagi-Sugeno(TS)模糊系统在线补偿系统未建模动态的影响,并利用反步法完成控制器综合。所设计的算法在确保整个控制系统稳定性的同时又可保证系统能够有效应对未建模动态的影响。系统仿真结果表明,在盘旋上升飞行模态下控制系统能够快速准确地跟踪预设轨迹,并且具有良好的鲁棒性能。
For the nonlinear model of a miniature helicopter with unmodeled dynamics, an autonomous flight controller based on backstepping method and adaptive fuzzy system is designed. The controller consists of two loops: the track control outer loop and the attitude control inner loop. The outer loop controls the inner loop attitude by rotating the matrix instead of the traditional Euler angles or pose quaternions. The controller uses the adaptive Takagi-Sugeno (TS) fuzzy system to compensate for the unmodeled dynamics of the system online and uses the backstepping method to complete the controller synthesis. The designed algorithm ensures the stability of the whole control system and at the same time ensures that the system can effectively deal with the impact of unmodeled dynamics. The system simulation results show that the control system can track the preset trajectory quickly and accurately and has good robustness in the ascending flight mode.