CAJ | 학술논문

执行器%自适应控制系统%算法%飞行器%角速度%反步%计算机仿真%控制器设计%误差%模糊控制%干扰抑制%李雅普诺夫方程%数学模型%鲁棒性(控制系统)%示意图%稳定性%无人机%自适应模糊系统%抗干扰%建模误差%欠驱动飞行器執行器%自適應控製繫統%算法%飛行器%角速度%反步%計算機倣真%控製器設計%誤差%模糊控製%榦擾抑製%李雅普諾伕方程%數學模型%魯棒性(控製繫統)%示意圖%穩定性%無人機%自適應模糊繫統%抗榦擾%建模誤差%欠驅動飛行器
집행기%자괄응공제계통%산법%비행기%각속도%반보%계산궤방진%공제기설계%오차%모호공제%간우억제%리아보낙부방정%수학모형%로봉성(공제계통)%시의도%은정성%무인궤%자괄응모호계통%항간우%건모오차%흠구동비행기

针对欠驱动四旋翼飞行器的结构特性，提出一种自适应模糊反演欠驱动控制算法，该算法可以克服传统反演控制中存在的问题，如欠驱动控制律过于复杂，抗干扰能力弱及系统建模误差对跟踪性能影响较大等弱点，该算法利用自适应模糊系统逼近系统中的非线性函数及扰动项，并利用模糊系统来构造系统的虚拟控制量，从而实现对欠驱动四旋翼飞行器的高精度控制，并以欠驱动四旋翼飞行器的自由度x为例，详细论述了自适应模糊系统的设计过程，并对算法的收敛性做了分析，仿真结果表明，该算法具有很强的抗干扰性，并且达到了理想的控制精度。
침대흠구동사선익비행기적결구특성，제출일충자괄응모호반연흠구동공제산법，해산법가이극복전통반연공제중존재적문제，여흠구동공제률과우복잡，항간우능력약급계통건모오차대근종성능영향교대등약점，해산법이용자괄응모호계통핍근계통중적비선성함수급우동항，병이용모호계통래구조계통적허의공제량，종이실현대흠구동사선익비행기적고정도공제，병이흠구동사선익비행기적자유도x위례，상세논술료자괄응모호계통적설계과정，병대산법적수렴성주료분석，방진결과표명，해산법구유흔강적항간우성，병차체도료이상적공제정도。
This paper introduces an adaptive fuzzy backstepping control strategy for underactuated quadrotor UAV. The strategy can overcome some shortcomings of traditional backstepping control method, such as the underactuated control law is too complex, tracking performance is sensitive to modeling errors and weak anti?interference ability etc. In order to achieve high precision control of the underactuated quadrotor UAV, the algorithm uses the adaptive fuzzy system to estimate the nonlinear function and the interference and to use the fuzzy system to structure virtual control law of the system. Taking the x axis of the underactuated quadrotor UAV as an example, we discuss in detail the design procedure of control law. The controller's stability is analyzed. The simulation results and their analysis show preliminarily that the proposed approach can guarantee the control accuracy and has a strong robustness.