摘要
研究了直升机姿态模糊控制技术。首先将专家知识和训练数据相结合生成了直升机的前置模糊姿态控制器。由于模糊控制所固有的不精确性 ,以及直升机的飞行状态多变 ,前置模糊姿态控制器无法对直升机进行精确控制 ,本文提出利用另一个在线自适应模糊控制器补偿控制误差。自适应模糊控制器的自适应学习算法通过李亚普诺夫稳定性分析得到 ,从而也保证了整个系统的稳定性。
The technology of helicopter fuzzy attitude control is studied based on the technology of fuzzy control. Helicopter feed forward fuzzy attitude controllers are established through a combination of expert knowledge and training data. However, the fuzzy controller cannot control helicopter′s attitude precisely. Two reasons leaded to those attitude control errors are as follows: (1) fuzzy control is an imprecise control technology; (2) helicopter has lots of flight mode. In order to ameliorate the control precision, on line adaptive fuzzy systems are presented to compensate control errors, whose adaptive control laws are obtained by analyses of Lyapnov stability. The adaptive fuzzy system provides nearly perfect tracking in the face of significant errors, which result from fuzzy attitude controllers, and additionally, cancelled the errors after a short initial period of learning. Simulational results demonstrate the validity of the method.
出处
《南京航空航天大学学报》
EI
CAS
CSCD
北大核心
2003年第3期258-263,共6页
Journal of Nanjing University of Aeronautics & Astronautics
