基于滑膜控制的农用智能无人机自动导航控制系统
Automatic Navigation and Control System of Agricultural Intelligent UAV Based on Sliding Mode Control
石峰峥 1陈美琳 1王雨欣 1张泽中 1崔云昊1
作者信息
- 1. 河南工业大学电气工程学院,河南 郑州 450000
- 折叠
摘要
针对农业环境的动态性和复杂性,提出了一种基于滑膜控制的农用无人机自动导航控制系统.首先,设计了一种面向动态环境的滑模控制器,确保了无人机面对外界干扰时的飞行稳定性;然后,引入强化学习算法对控制参数进行在线调整,提高了系统的适应能力;最后,搭建了硬件在环仿真平台,并在实际农田环境下进行飞行测试.结果表明,该控制系统有效提升了农用智能无人机的自动导航性能,为智慧农业的发展提供了技术支撑.
Abstract
This paper proposes an automatic navigation control system for agricultural unmanned aerial vehicles(UAV)based on sliding mode control,targeting the dynamic and complex nature of agricultural environments.Firstly,a sliding mode controller for dynamic environments was designed to ensure the flight stability of the UAV in the face of external disturbances.Then,the introduction of reinforcement learning algorithms for online adjustment of control parameters improved the system's adaptability.Finally,a hardware in the loop simulation platform was built and flight tests were conducted in actual agricultural environments.The results demonstrate that the proposed control system effectively enhances the autonomous navigation performance of agricultural UAV,providing technical support for the development of smart agriculture.
关键词
农用无人机/滑模控制/强化学习Key words
agricultural UAV/sliding mode control/reinforcement learning引用本文复制引用
出版年
2024
NETL
NSTL
万方数据