微扑翼飞行机器人姿态反演自适应模糊控制

Adaptive Fuzzy Control of Attitude of the Flapping-wing Micro Air Vehicles Based on Backstepping

研究微扑翼飞行机器人姿态控制优化问题,因扑翼飞行的复杂性、系统的非线性、时变参数以及各种干扰而极具挑战性。为了提高系统姿态稳定性,提出了一种反演自适应模糊控制策略,针对传统反演控制律设计的不足之处,对微扑翼飞行机器人控制律设计中需要知道被控对象精确模型信息的部分,采用模糊控制法去逼近,从而实现了无需微扑翼飞行器精确模型的全新控制律,避免了因建模误差对控制带来的不良影响,并在此基础上证明了系统的稳定性。仿真结果证实了控制方法的有效性。

The attitude control of Flapping-wing Micro Air Vehicles is very challenging owing to the complex flight process,and the heavy difficulty is that the system embodies nonlinearity,time varying parameters,and all kinds of disturbances.To control the attitude movement effectively,an adaptive fuzzy control strategy based on backstepping is contrived by analyzing the disadvantage of common backstepping.The method overcomes the impact of the modeling error on the control system.Theoretical result is supported by simulation of the adaptive fuzzy control of FMAV on backstepping,and the validity of the proposed method is verified.