四旋翼无人机控制器设计与综合

M. Mahfouz, S. A. Kader
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引用次数: 7

摘要

无人机应用领域十分丰富,是未来极具发展潜力的主要领域之一。为四电机垂直起降(VTOL)的飞机特别称为四轴飞行器。它已经引起了当今科学研究人员的极大关注。它被认为是一个有前途的解决方案,以退出各种应用。由于无人机模型的复杂性、非线性、耦合性、固有不稳定性和参数值的模糊性等问题,建模和控制基础是人们非常关注的问题。设计了两种类型的控制器,以在悬停点附近达到稳定的补偿系统。首先针对无人四轴飞行器设计了增强型PID控制器。然后,针对非线性系统改进了自适应神经模糊推理控制器(ANFIS)。在整个运行范围内采集增强PID控制的输入输出数据。这些信息作为学习和检查数据用于ANFIS控制器的设计。利用ANFIS实现的控制器作为非线性控制器,与在运行悬停点得到的增强PID控制器结果相关。实验结果验证了该控制器作为四轴飞行器非线性控制器的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Quadrotor unmanned aerial vehicle controller design and synthesis
The field of UAVs is quit rich of applications and it can be considered as one of the major fields that can have great future potential. For the four motors vertical take-off and landing (VTOL) aircraft known as the quadcopter specially. it have drawn great attention of the scientific researchers nowadays. It is considered as a prospective solution to a quit variety of applications. This paper is concerned with modeling and control basics that are of huge concern due to unmanned aerial vehicle model complications, nonlinearity, coupling, inherent instability and parameter values ambiguity. Two types of controllers are designed to reach a stable compensated system around the hovering point. Enhanced PID controller is designed first for the unmanned quadcopter aerial vehicle. Then, Adaptive Neuro Fuzzy Inference controller (ANFIS) is refined for the nonlinear system. Input-output data of the enhanced PID controlled among the entire range of operation are gathered. These informations are used for the ANFIS controller design as learning and checking data. The controller achieved using ANFIS, as a nonlinear controller, are correlated with the enhanced PID controller results achieved at the hovering point of operation. The conclusion from these results affirm the efficiency of the ANFIS as quadcopter nonlinear controller.
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