A Fuzzy Adaptive Elastic Control Method for Unmanned Helicopter

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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