微型飞行器自主飞行专家模糊控制技术

Expert Fuzzy Control of Micro Air Vehicle Autonomous Flight

微型飞行器(Micro air vehicles,MAV)的自主飞行控制是目前国内外微型飞行器研究领域正在积极开展的一项研究。由于MAV自身尺寸微小,飞行环境复杂多变,其飞行力学具有明显的非线性、非定常特性,传统的飞行控制技术已非常不适用。本文将模糊控制技术引入到MAV飞行控制之中,实现了各个方向的姿态控制、高度控制,在此基础上,根据MAV飞行力学特性与实际飞行经验,建立了一个完整的专家控制体系,实现了MAV自主飞行控制。最后,运用Lyapunov理论,验证了系统的全局稳定性。

The autonomous flight control technique for micro air vehicle （MAV） is researched in universal research field. Because of its micro size, the complexity and the variability of its working environment, those traditional flight control techniques are incompatible with the development for micro air vehicles. So fuzzy techniques are introduced into the control system design, thus realizing the attitude and altitude controls for MAV. Then an expert control system based on flight dynamics and telecontrol experience is built to achieve global autonomous flight control for MAV. Finally, the global stability of the system using Lyapunov theory is proved.