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A Fuzzy Adaptive Elastic Control Method for Unmanned Helicopter

An unmanned helicopter, fuzzy adaptive technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem of drastic changes in model parameters, without considering the controller perturbation, etc., to improve the robustness performance, simplification of nonlinear models, and improvement of intelligence

Active Publication Date: 2021-05-28
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 robustness of the system to the perturbation of the controller, it ignores the fact that the model parameters change drastically. problem, which may reduce the robustness of the system to model uncertainty

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  • A Fuzzy Adaptive Elastic Control Method for Unmanned Helicopter
  • A Fuzzy Adaptive Elastic Control Method for Unmanned Helicopter
  • A Fuzzy Adaptive Elastic Control Method for Unmanned Helicopter

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[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 consistent and bounded, and make the actual output asymptotically track the expected output;

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

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Abstract

The invention discloses a fuzzy adaptive elastic control method of an unmanned helicopter. First, for the MIMO nonlinear system of the unmanned helicopter, the T-S fuzzy system is used to estimate the unmodeled dynamics; then, the indirect adaptive control is used to design the parameter adaptive law to adjust the fuzzy identification parameters online, so that the estimated value is continuously approaching the actual value ;Finally, based on the designed parameter adaptive law, an adaptive elastic controller is designed to make all the signals of the system uniformly bounded and make the actual output asymptotically track the desired output. The invention fully considers the perturbation of the controller when designing the controller, and combines the self-adaptive control and the T-S fuzzy control to design a fuzzy self-adaptive elastic controller capable of stabilizing the closed-loop system.

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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Patent Type & Authority Patents(China)
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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