基于改进事件触发机制的四旋翼飞行器输出反馈模糊控制
Output feedback fuzzy control of quadrotors based on improved event-triggered mechanism
王紫燕 1高闯1
作者信息
- 1. 辽宁科技大学 电子与信息工程学院,辽宁 鞍山 114051
- 折叠
摘要
为了提高四旋翼飞行器姿态跟踪控制精度,减少通讯开销,节约控制成本,本文建立四旋翼飞行器动力学模型,采用模糊状态观测器估计飞行器状态,解决非线性和不确定性问题,结合改进型事件触发机制设计姿态跟踪控制器,实现飞行器在不同姿态下的精确控制和稳定飞行.仿真结果验证了本文控制方法的有效性.
Abstract
In order to improve the attitude tracking control accuracy of quadrotor,reduce the communication overhead and save the control cost,a quadrotor dynamics model is designed.Adopting a fuzzy state observer to estimate the state of the vehicle,it can solve the problem of nonlinearity and uncertainty.Combining with the improved event-triggered mechanism to design the attitude tracking controller,the precise control and sta-ble flight of the vehicle under different attitudes can be realized.The simulation results verify the effectiveness of the control method in this paper.
关键词
四旋翼飞行器/姿态跟踪控制/模糊观测器/事件触发机制/反步法Key words
quadrotors/attitude tracking control/fuzzy observer/event-triggered mechanism/backstepping引用本文复制引用
出版年
2024
NETL
NSTL
万方数据