摘要
针对在无人机(UAV)的动力参数不确定、模型不可靠的情况下,对无人机系统进行有效控制的问题,提出了一种基于双层回路的四旋翼无人机非线性控制器.内层回路中利用基于T-S(Takagi-Sugeno)模糊控制的滑模控制器来实现姿态稳定控制;外层回路中设计了PID(proportional-integral-derivation)控制器用于产生期望姿态角来实现轨迹追踪的任务.数字仿真结果表明,所提的控制器能够使无人机的运动轨迹及姿态角快速收敛到期望值且稳定在小误差范围内.
To achieve the effective control of unmanned aerial vehicles（ UAVs）,we present a nonlinear controller based on the double loops for the quadrotor UAV in which the kinetic parameters are uncertain or the model is unknown. In the inner loop,we utilize a sliding mode controller based on Takagi-Sugeno（ T-S） fuzzy control to achieve rotational stability. To perform effective trajectory tracking,in the outer loop,we utilize a proportional-integral-derivative（ PID） controller to generate reference angles. Numerical simulation results confirm that the proposed controller can facilitate rapid convergence of the UAV＇s trajectory and attitude angles with small errors.
作者
陶彦隐
王炜毅
邱亚峰
李杰
TAO Yanyin;WANG Weiyi;QIU Yafeng;LI Jie(School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China)
出处
《信息与控制》
CSCD
北大核心
2018年第3期276-282,共7页
Information and Control
基金
国家自然科学基金资助项目(61301023)
