面向海上交通监控的四旋翼飞行器鲁棒优化控制系统

2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD) Pub Date : 2017-10-01 DOI:10.1109/APUAVD.2017.8308807

V. Timchenko, D. O. Lebedev, E. A. Kuklina, I. Timchenko

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引用次数: 2

摘要

提出了一种基于轨迹优化和反馈结构中形成的控制函数的四旋翼飞行器鲁棒最优控制系统综合方法。形成了具有特殊变结构反馈电路的控制函数的综合。在四旋翼飞行器模型和环境先验信息不完全的情况下，利用变结构反馈参考控制系统形成的控制信号，合成了鲁棒电路。给定的方法允许减少误差值和能源成本。

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Robust-optimal control system of quadrocopter for maritime traffic's monitoring

Approach to robust-optimal control system's synthesis for quadrocopter based on the optimization of his trajectories and control functions formed in the feedback structure is submitted. Synthesis of control functions with special variable structures of feedback circuits is formed. In case of incomplete prior information about quadrocopter's model and environment, robust circuit is synthesized with additional usage of control signals formed by the reference control system with variable structure of feedback. Given approach allows to decrease errors values and energy costs.

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来源期刊

2017 IEEE 4th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD)

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