摘要
针对具有不确定的非线性多输入多输出系统,利用径向基神经网络设计非线性干扰观测器,并基于所设计的干扰观测器提出了终端滑模控制方法,同时应用于六自由度无人机的鲁棒飞行控制器设计。仿真结果证明了该控制方案的有效性和鲁棒性。
In this paper, aiming at the uncertain multi-input and multi-output nonlinear system, the nonlinear disturbance observer is designed using the radial basis function （RBF） neural network. Based on the developed disturbance observer, the terminal sliding mode control is proposed and applied to the robust flight control for six degree of freedom （6-DOF） model of the unmanned aerial vehicle （UAV）. Simulation results demonstrate the effectiveness and robustness of the developed robust control scheme.
出处
《机械工程与自动化》
2012年第4期152-154,157,共4页
Mechanical Engineering & Automation
关键词
无人机
神经网络
飞行控制
干扰观测器
终端滑模控制
unmanned aerial vehicle
neural networks
flight control
disturbance observer
terminal sliding mode control
