CAJ | 학술논문

以四旋翼无人飞行器作为被控对象，建立了飞行器姿态的动力学模型。采用反步递推方法进行设计，并构造了李雅普诺夫函数，通过其导出了自适应控制律。在保证控制系统渐进稳定的前提下，针对设计的控制律进行仿真分析，结果表明该方法有效。
이사선익무인비행기작위피공대상，건립료비행기자태적동역학모형。채용반보체추방법진행설계，병구조료리아보낙부함수，통과기도출료자괄응공제률。재보증공제계통점진은정적전제하，침대설계적공제률진행방진분석，결과표명해방법유효。
According to the quador rotor,a dynamic model of UAV's attitude is established.the backstepping methods are used,further more, lyapunov function is built and an adaptive control rule is deduced in this design.On the premise of the control system stability,the adaptive control is simulateol. The results show that the proposed adaptive control rule is feasible.