[1]张 磊,王 冠,杨习贝,等.八旋翼微型飞行器的自适应滑模控制器设计[J].南京理工大学学报(自然科学版),2018,42(01):33.[doi:10.14177/j.cnki.32-1397n.2018.42.01.005]
 Zhang Lei,Wang Guan,Yang Xibei,et al.Designing adaptive sliding mode controller for an eight-rotor MAV[J].Journal of Nanjing University of Science and Technology,2018,42(01):33.[doi:10.14177/j.cnki.32-1397n.2018.42.01.005]
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八旋翼微型飞行器的自适应滑模控制器设计()
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
42卷
期数:
2018年01期
页码:
33
栏目:
出版日期:
2018-02-28

文章信息/Info

Title:
Designing adaptive sliding mode controller for an eight-rotor MAV
文章编号:
1005-9830(2018)01-0033-07
作者:
张 磊1王 冠1杨习贝2王平心3
1.徐州幼儿师范高等专科学校,江苏 徐州 221004; 2.江苏科技大学 计算机学院,江苏 镇江 212003; 3.江苏科技大学 理学院,江苏 镇江 212003
Author(s):
Zhang Lei1Wang Guan1Yang Xibei2Wang Pingxin3
1.Xuzhou Kindergarten Teachers College,Xuzhou 221004,China; 2.School of Computer,Jiangsu University of Science and Technology,Zhenjiang 212003,China; 3.School of Sciences,Jiangsu University of Science and Technology,Zhenjiang 212003,China
关键词:
区间二型模糊神经网络 自适应滑模控制器 八旋翼微型飞行器 姿态控制策略 不确定性 外部干扰
Keywords:
interval type-Ⅱ fuzzy neural network adaptive sliding mode controller eight-rotor micro aircraft vehicle attitude contral strategy uncertainties enternal disturbances
分类号:
TP2
DOI:
10.14177/j.cnki.32-1397n.2018.42.01.005
摘要:
八旋翼微型飞行器的不确定性导致很难获得稳定的控制。鉴于此,提出一个稳定的八旋翼微型飞行器的姿态控制策略以适应系统的不确定性因素和外部干扰。首先,采用区间二型模糊神经网络来逼近八旋翼微型飞行器动力学模型中的非线性和不确定性函数。然后,用李诺夫稳定性定理证明闭环系统的渐近稳定性,并利用对区间二型模糊神经网络和滑模控制增益进行在线调整。仿真结果表明,基于区间二型模糊神经网络的自适应滑模控制器能够保证在不确定性因素和有外部干扰的情况下保证八旋翼微型飞行器控制系统的良好性能,与传统的自适应滑模控制器及基于区间一型模糊神经网络的滑模控制器相比,性能显著提高。
Abstract:
This paper focuses on intelligent control of the eight-rotor micro aircraft vehicle(MAV)which is used to obtain stable control due to uncertainties. This paper designs a robust and stable attitude control strategy for the eight-rotor MAV to accommodate system uncertainties,variations,and external disturbances. Firstly,by employing interval type-Ⅱ fuzzy neural network to approximate the nonlinearity function and uncertainty functions. The parameters of the interval type-Ⅱ fuzzy neural network and gain of sliding mode control can be tuned on-line by adaptive laws based on Lyapunov synthesis approach,and the Lyapunov stability theorem has been used to testify the asymptotic stability. The simulation results show that the performance of interval type-Ⅱ fuzzy neural network based adaptive sliding mode controller can guarantee the eight-rotor MAV control system with good performances under uncertainties,variations,and external disturbances,and which is significantly improved compared with the conventional adaptive sliding mode controller,type-Ⅰ fuzzy neural network based sliding mode controller.

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备注/Memo

备注/Memo:
收稿日期:2017-09-28 修回日期:2018-01-10 基金项目:国家自然科学基金(61572242; 61503160) 作者简介:张磊(1980-),男,讲师,主要研究方向:模糊神经网络、网络安全,E-mail:xzyzzhlei@126.com; 通讯作者:杨习贝(1980-),男,副教授,主要研究方向:粒计算与智能系统,E-mail:zhenjiangyangxibei@163.com。 引文格式:张磊,王冠,杨习贝,等. 八旋翼微型飞行器的自适应滑模控制器设计[J]. 南京理工大学学报,2018,42(1):33-39. 投稿网址:http://zrxuebao.njust.edu.cn
更新日期/Last Update: 2018-02-28