小型无人机姿态系统的变论域模糊控制

Variable Universe fuzzy Control for the Mini UAV’s Attitude

无人机飞行姿态控制过程具有较强的时变特征,且存在随机扰动,因而常规的定参数控制方法往往不能满足要求;同时,由于小型无人机体积小、系统配置简单,也不宜建立太过复杂的控制系统。为此,设计了变论域模糊自整定飞行姿态智能PID控制器,建立了相应的控制策略,使无人机在飞行过程中能有效克服环境扰动的影响,沿预定航线稳定飞行。仿真结果表明了该方法的有效性。

Since mini UAV flight attitude control process has strong time-varying characteristics, and there are random disturbances the conventional control methods with unchanged parameters are often unworkable. A variable universe fuzzy auto- tuning PID controller for UAV flight attitude control is prsented in this paper. Simulation results are also given