四旋翼飞行器姿态控制的简单模糊解

12th Symposium on Neural Network Applications in Electrical Engineering (NEUREL) Pub Date : 2014-11-01 DOI:10.1109/NEUREL.2014.7011469

I. Petruševski, A. Rakic

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引用次数: 6

摘要

提出了一种计算效率高、易于调优的四旋翼直升机姿态控制方法。简要介绍了四旋翼飞行器的概念和控制框架，并对飞行器的内部姿态控制部分进行了讨论。本文提出的模糊比例微分(PD)控制结构利用Sugeno模糊引擎，具有简单直观的规则集和具有物理意义的参数集。通过仿真并与现有的基于反步的姿态控制系统进行了比较，验证了所提方案的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Simple fuzzy solution for quadrotor attitude control

This paper presents new computationally efficient and easy to tune attitude control of a four rotor helicopter called quadrotor. Short description of quadrotor concept and control framework is given and the segment of inner attitude control of the aircraft is addressed. Proposed fuzzy proportional - differential (PD) control structure utilizes Sugeno fuzzy engine, with simple intuitive set of rules and set of physically meaningful parameters. The verification of proposed solution was done via simulation and comparison with existing backstepping based attitude control system.

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来源期刊

12th Symposium on Neural Network Applications in Electrical Engineering (NEUREL)

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