基于单神经元PID和重力补偿的四旋翼无人机位置姿态控制

IF 0.9 Q3 ENGINEERING, AEROSPACE
Haitao Zhang, L. Yang
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引用次数: 0

摘要

针对现有四旋翼无人机PID控制器的不足,提出了一种带重力补偿的单神经元PID控制器。采用前馈控制补偿重力后,位置环采用PID控制保证控制精度,姿态环采用单神经元控制增加自适应能力。然后,利用Matlab/simulink仿真软件对四旋翼无人机进行了位置控制,仿真结果表明,与传统的双闭环PID控制器相比,基于单神经元自适应PID的重力补偿控制算法可以有效地提高四旋翼无人机系统的鲁棒性和自适应性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Position and Attitude Control Based on Single Neuron PID With Gravity Compensation for Quad Rotor UAV
Aimed at the deficiency of existing PID controller for quad rotor UAV, a single neuron PID controller with gravity compensation is presented. After using feed forward control to compensate gravity, the position loop adopts PID control to ensure control accuracy, while the attitude loop adopts single neuron control to increase adaptive ability. Then, by using Matlab/simulink simulation software, the position control of quad rotor UAV is carried out, and the simulation result shows, compared with the traditional double closed loop PID controller, the control algorithm based on the Single Neuron adaptive PID with gravity compensation can effectively improve the robustness and adaptability of the quad rotor UAV system.
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来源期刊
CiteScore
2.00
自引率
0.00%
发文量
16
审稿时长
20 weeks
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