Fuzzy adaptive elastic control method of unmanned helicopter

An unmanned helicopter, fuzzy adaptive technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problem of drastic changes in model parameters, without considering controller perturbation, etc.

Active Publication Date: 2020-05-19
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, these research results also have certain limitations. For example, adaptive control does not take into account the perturbation of the controller. Although the elastic control improves the robu

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  • Fuzzy adaptive elastic control method of unmanned helicopter
  • Fuzzy adaptive elastic control method of unmanned helicopter
  • Fuzzy adaptive elastic control method of unmanned helicopter

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Embodiment Construction

[0074] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0075] In this embodiment, the single-input single-output (SISO) system is firstly used as the research object, and then extended to the multiple-input multiple-output (MIMO) system. The specific steps are as follows:

[0076] Step 1: First, for the SISO nonlinear system, use the T-S fuzzy system to estimate the unmodeled dynamics;

[0077] Step 2: Adopt indirect adaptive control, design parameter adaptive law to adjust the fuzzy identification parameters obtained in step 1 online, so that the estimated value is constantly approaching the actual value;

[0078] Step 3: Based on the parameter adaptive law designed in step 2, design an adaptive elastic controller to make all the signals of the system uniformly bounded and make the actual output asymptotically track the expected output;

[0079] Step 4: Construct the Lyapunov function of the ...

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Abstract

The invention discloses a fuzzy adaptive elastic control method of an unmanned helicopter. The method comprises the following steps: firstly, for an MIMO nonlinear system of the unmanned helicopter, estimating an unmodeled dynamic state by adopting a T-S fuzzy system; then, adopting indirect adaptive control, designing a parameter adaptive law to adjust fuzzy identification parameters on line, andmaking an estimated value to continuously approach an actual value; and finally, designing an adaptive elastic controller based on a designed parameter adaptive law, enabling all signals of the system to be consistent and bounded, and enabling actual output to gradually track expected output. When the controller is designed, the perturbation of the controller is fully considered, adaptive controland T-S fuzzy control are combined, and the fuzzy adaptive elastic controller capable of stabilizing a closed-loop system is designed.

Description

technical field [0001] The invention belongs to the field of unmanned helicopters, and in particular relates to an adaptive control method for unmanned helicopters. Background technique [0002] Unmanned helicopter is a high-order, strongly coupled nonlinear system, and the system model parameters change drastically, which greatly increases the difficulty of system modeling and flight control. In addition, there are many uncertain factors and external disturbances in the flight process, and traditional control methods are difficult to meet the ever-increasing flight control requirements of unmanned helicopters in complex environments. The T-S fuzzy method is an effective tool for fuzzy modeling of complex nonlinear systems, and its theory is also the basis of a class of nonlinear fuzzy intelligent control methods. Since it was proposed, many research results have been obtained. For this reason, the nonlinear control of unmanned helicopters can be realized on the basis of th...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 王玉惠沈艺陈谋吴庆宪侯思远李云鑫徐超
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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