基于模糊自适应的微型飞行器姿态控制

Journal of Systems Engineering and Electronics ›› 2009, Vol. 31 ›› Issue (10): 2455-2459.

基于模糊自适应的微型飞行器姿态控制

段洪君¹, 史小平²

1. 东北大学秦皇岛分校自动化工程系, 河北, 秦皇岛, 066004;
2. 哈尔滨工业大学控制与仿真中心, 黑龙江, 哈尔滨, 150001

收稿日期:2008-10-14 修回日期:2008-12-07 出版日期:2009-10-20 发布日期:2010-01-03
作者简介:段洪君(1971- ),男,讲师,博士,主要研究方向为非线性控制、飞行器智能控制.E-mail:dhjday@126.com
基金资助:
国防科学技术工业委员会基础研究基金(9140A01010108HT0136)资助课题

Attitude control for micro-vehicle based on fuzzy adaptive algorithm

DUAN Hong-jun¹, SHI Xiao-ping²

1. Dept. of Automation Engineering, Northeastern Univ. Qinhuangdao Branch, Qinhuangdao 066004, China;
2. Control and Simulation Center, Harbin Inst. of Technology, Harbin 150001, China

Received:2008-10-14 Revised:2008-12-07 Online:2009-10-20 Published:2010-01-03

摘要/Abstract

摘要： 针对一类不确定非线性系统,基于李亚普诺夫稳定性理论提出了模糊自适应算法.将系统分为标称模型和包含建模误差、参数变化、干扰及未建模动态等在内的混合干扰项,用模糊自适应控制实时逼近系统各个不确定参数,用鲁棒反馈控制消除系统的外部干扰.由于模糊自适应控制是对系统输入系数矩阵和系统函数向量的不确定部分的每一个分量进行实时逼近,所以系统控制的精确性得到了提高,有较好的鲁棒性.模糊逻辑系统的计算量相对较少,从而能够很好地完成系统输出信号的渐近跟踪.给出了控制算法的稳定性证明,并对微型飞行器的姿态控制系统进行了仿真研究,仿真结果验证了算法的有效性.

Abstract: A fuzzy adaptive control algorithm for a class of uncertain nonlinear systems based on Lyapunov's stability theory is proposed.The main idea of the algorithm is that the system is divided into a nominal model and the lumped disturbance terms,which are composed of modeling error,parameter uncertainties,disturbances and unmodeled dynamics.Fuzzy adaptive control is adopted to approach every uncertain parameter of the system in real time,and robust feedback control is introduced to eliminate the external disturbances.Resultingly,every uncertain parameter of the input coefficient matrix and the function vector in the system is approached.The control precision and robustness are improved,the on-line computation is decreased correspondingly,and the output of the nonlinear system is tracked gradually.The stability is proved and the algorithm is applied to the attitude control of a micro-vehicle.The simulation result verifies the effectiveness of the proposed method.

中图分类号:

V249.12

段洪君, 史小平. 基于模糊自适应的微型飞行器姿态控制[J]. Journal of Systems Engineering and Electronics, 2009, 31(10): 2455-2459.

DUAN Hong-jun, SHI Xiao-ping. Attitude control for micro-vehicle based on fuzzy adaptive algorithm[J]. Journal of Systems Engineering and Electronics, 2009, 31(10): 2455-2459.

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