一类非线性直升机系统的Fuzzy-LQG控制器设计

Fuzzy-LQG Controller Design for a Class of Nonlinear Helicopter Systems

针对带有交叉耦合的多输入CE150直升机系统,设计了Fuzzy-LQG控制器。介绍了CE150直升机系统的组成及其数学模型,基于模糊控制论,建立了模糊规则库,并设计了Fuzzy-LQG控制器,对直升机系统的飞行角度和角速度进行了实时控制,与常规PID、LQG控制方法进行比较表明,Fuzzy-LQG控制方法具有更快的响应速度,更好的稳定性和鲁棒性。

A new Fuzzy-LQG controller is designed for the multiple-input CE150 helicopter model with cross coupling. Firstly, the composition and mathematical model of the CE150 helicopter experimental system are introduced. Moreover, the fuzzy rule bases are established based on the fuzzy control theory, and then we designed a new Fuzzy-LQG controller which applied to control the flight angle and the angular velocity of helicopter model in real-time. Compared with the conventional PID, LQG methods in the existing literatures, the Fuzzy-LQG controller offers higher response speed, better stability and better robustness.