计算机应用 ›› 2014, Vol. 34 ›› Issue (5): 1400-1403.DOI: 10.11772/j.issn.1001-9081.2014.05.1400

• 人工智能 • 上一篇    下一篇

四旋翼飞行器增稳混合控制器

高庆吉,岳凤发,胡丹丹   

  1. 中国民航大学 机器人研究所,天津 300300
  • 收稿日期:2013-11-12 修回日期:2013-12-09 出版日期:2014-05-01 发布日期:2014-05-30
  • 通讯作者: 岳凤发
  • 作者简介:高庆吉(1966-),男,黑龙江桦川人,教授,博士,主要研究方向:机器人视觉与环境感知、机器人智能与控制系统;岳凤发(1986-),男,天津人,硕士研究生,主要研究方向:人机交互、机器人导航控制;胡丹丹(1979-),女,吉林通化人,副教授,硕士,主要研究方向:机器视觉、机器人控制。

Stability augmentation hybrid controller for quadrotor aircraft

GAO Qingji,YUE Fengfa,HU Dandan   

  1. Robotics Institute, Civil Aviation University of China, Tianjin 300300, China
  • Received:2013-11-12 Revised:2013-12-09 Online:2014-05-01 Published:2014-05-30
  • Contact: YUE Fengfa

摘要:

针对四旋翼飞行器在不同环境下的飞行稳定性问题,提出反步法和模糊自适应比例积分微分(PID)方法的混合控制方法。该方法根据无人机(UAV)飞行环境和大倾角、大倾角变化率选择当前合适的控制器。在系统未受扰动时,基于Backstepping的控制方法能够完成飞行器的轨迹跟踪;在受扰动时,基于模糊自适应PID能够极大地抑制扰动带来的影响,实现对四旋翼飞行器的精确控制。通过Matlab仿真分析及实际飞行器实验,验证了增稳混合控制器的稳定性。

Abstract:

A hybrid control method based on backstepping and fuzzy adaptive Proportion-Integration-Differentiation (PID) was proposed, which improved the flight stability of quadrotor aircraft in different environment. The method selected the current appropriate controller according to the Unmanned Aerial Vehicles (UAV) flight environment, large attitude angle, and large attitude angular velocity. In the case of the system undisturbed, backstepping-based control algorithm could complete trajectory tracking. In case of disturbance, fuzzy adaptive PID could greatly suppress the impact of disturbance and realize the precise control of quadrotor aircraft. The Matlab simulation analysis and practical experiments illustrate that the stability augmentation hybrid controller can effectively realize the stability.

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