A attitude control method of insect-like flapping-wing aircraft based on fuzzy neural network

Abstract

The invention relates to an insect flapping wing-like aircraft attitude control method based on a type-2 fuzzy neural network of a triangular uncertain central interval. The method comprises the following steps that 1, initial parameters of a proportional plus derivative controller and the fuzzy neural network in an insect flapping wing-like aircraft attitude control model are set; 2, flapping wing aircraft attitude angle information is acquired, and after filter fusion is conducted, an attitude angle measured practically is obtained; 3, difference between the attitude angle measured practically and a preset attitude angle is calculated to obtain a corresponding attitude angle error and a first derivative of the attitude angle error, the corresponding attitude angle error and the first derivative of the attitude angle error are used as input quantities of the proportional plus derivative controller and the fuzzy neural network, output of the controller is obtained, and meanwhile, the parameters of the fuzzy neural network are updated; 4, an insect flapping wing-like aircraft airborne flight control unit adjusts the attitude angle according to output of the proportional plus derivative controller and the fuzzy neural network. Compared with the prior art, the insect flapping wing-like aircraft attitude control method based on the type-2 fuzzy neural network of the triangular uncertain central interval has the advantages of being high in anti-jamming capability, high in robustness, high in convenience and practicability and the like.

Description

technical field [0001] The invention relates to the field of aeronautical engineering aircraft, in particular to an attitude control method of an insect-imitating flapping-wing aircraft based on a triangular uncertain central interval type-two fuzzy neural network. Background technique [0002] In the past few years, insect-like flapping-wing micro-aircraft has become a research hotspot in the field of bionic engineering because of its small size, light weight, compact structure, quiet flight, and high maneuverability. These advantages make it applicable to many practical engineering fields. For example, search and rescue inside buildings or in collapsed structures; sensing chemical spills; radiation monitoring of nuclear power plants; and surveillance and reconnaissance during military operations. With the advancement of micro-motors, on-board power supplies and sensors, and rigid and flexible transmission mechanisms, the manufacture of insect-like flapping-wing micro-airc...

AI Technical Summary

Problems solved by technology

At present, the fuzzy neural network has been applied in some engineering fields, such as controlling the temperature of the heating furnace, estimating the state of the battery and predicting the traffic flow, etc., but there is still relatively little research work on the flight control of the flapping wing aircraft.

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