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基于模型参考自适应的四旋翼飞行器控制
Alternative TitleControlling Quadrotor Vehicles Based on Model Reference Adaptation Control
李瑞琪; 王洪福; 李瑞雪; 王洁
Department光电信息技术研究室
Source Publication计算机测量与控制
ISSN1671-4598
2013
Volume21Issue:12Pages:3260-3263, 3271
Contribution Rank1
Keyword四旋翼 参考模型 自适应控制 线性二次型
Abstract针对复杂工作环境下四旋翼飞行器参数改变时的控制方法适应性问题,提出了一种基于模型参考自适应控制设计方法;在线性化的四旋翼飞行器模型的基础上,设计了基于线性二次型的姿态控制器以及基于传递函数的高度控制器,然后设计了自适应补偿器消除飞行器载荷改变或其它原因导致的参数不确定的影响;对加入了模型参考自适应的四旋翼飞行器进行仿真,仿真结果验证了该控制方法的有效性,说明了在复杂环境下质量与转动惯量变化时,基于该方法的四旋翼飞行器能够实现良好的控制性能。
Other AbstractTo deal with parameters change in complex working environments, an adaptive control strategy based on model reference adaptation is proposed for quadrotor helicopter unmanned aerial vehicles (UAV).Upon linear models, the control strategy is composed of two layers: baseline controllers based on Linear Quadratic Regulator(LQR)and transfer functions, adaptive controllers applied to eliminate the ill impact of declined control effectiveness due to load change or some other causes. By simulation experiments of a quadrotor vehicle based on MARC, the results illustrate the effectiveness of the control strategy and demonstrate that vehicles based on this strategy can achieve a good performance, when the mass and the moment of inertia change in complex working environments.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/14609
Collection光电信息技术研究室
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院光电信息处理重点实验室
3.中国科学院大学
4.北京理工大学
5.南京电子技术研究所
Recommended Citation
GB/T 7714
李瑞琪,王洪福,李瑞雪,等. 基于模型参考自适应的四旋翼飞行器控制[J]. 计算机测量与控制,2013,21(12):3260-3263, 3271.
APA 李瑞琪,王洪福,李瑞雪,&王洁.(2013).基于模型参考自适应的四旋翼飞行器控制.计算机测量与控制,21(12),3260-3263, 3271.
MLA 李瑞琪,et al."基于模型参考自适应的四旋翼飞行器控制".计算机测量与控制 21.12(2013):3260-3263, 3271.
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