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《Adaptive fuzzy control for a quadrotor》由會員上傳分享，免費在線閱讀，更多相關(guān)內(nèi)容在學術(shù)論文-天天文庫。
1、JournalofIntelligent&FuzzySystems22(2011)267283267DOI:10.3233/IFS-2011-0488IOSPressAdaptivefuzzycontrolforaquadrotorhelicopterrobusttowindbuffetingC.Cozaa,C.Nicola,C.J.B.Macnaba,?andA.Ramirez-SerranobaDepartmentofElectricalandComputerEngineering,Univers
2、ityofCalgary,Calgary,AB,CanadabDepartmentofMechanicalandManufacturingEngineering,UniversityofCalgary,Calgary,AB,CanadaAbstract.Thenonlinearandopen-loopunstabledynamicsofaquadrotorhelicoptermakesacontrolsystemdesignnon-trivial.However,evenmoredif?cultyli
3、esinadaptingtoanuncertaindynamicmodelandunknownpayloadswhileremainingrobusttosigni?cantbuffetingwinddisturbances.Fuzzy-adaptiveorneural-adaptivecontrolofferpossiblesolutions,exhibitingcom-putationalef?ciencyandadaptationtoarbitrarynonlinearities.Acommon
4、methodformakingtheseadaptivecontrolsrobusttodisturbances,e-modi?cation,isfoundtobeunsuitablewhenappliedtothequadrotorinsimulation.Theadaptiveparameterstendtodrifttolargevaluesinthepresenceofasinusoidaldisturbance.Inthiswork,weproposeamethodthatusesalter
5、nateadaptiveparametersintheadaptationscheme.Theproposedmethodsuccessfullycontrolsthequadrotorinsimulation,withrealisticcon-trolsignalsandcomputationaleffort.Theadaptiveparameterdriftandcontrolchatterpresentwithe-modi?cationbothvanish.Moreover,performanc
6、eimprovesdramaticallyinthepresenceofdisturbances.Keywords:Adaptivefuzzycontrol,neuraladaptivecontrol,cerebellarmodelarticulationcontroller(CMAC),quadrotorhelicopter,helicoptercontrol1.Introductionfourrotors,orquadrotor,hasnumerousadvantagesovertradition
7、alhelicopterdesignsinthecaseofsmallTraditionallyusedformilitaryoperations,electricallyactuatedaircraft[19].UnmannedAerialVehicles(UAVs)arenow?nd-SuccessfulimplementationofaUAVdependsoningapplicationsinthecivilianworldincludingthelevelofcontrollabilityan
8、d?yingcapabilities.monitoringoftraf?cconditions,recognitionandExhibitingopen-loopunstablenonlineardynamics,thesurveillanceofvehicles,aerialphotographyforrealquadrotorposessigni?cantchallengestopresent-dayestateevaluations,andsear
