基于数字化再设计的UAV控制器设计与仿真

Design and Simulation of Unmanned Aerial Vehicle Controller Based on Intelligent Digital Redesign Method

在无人机控制器优化问题的研究中,无人飞行器闭环系统实际上是一个包含离散与连续两种时间域的复杂的混合系统,在飞行过程中易受环境因素影响,高速飞行时对控制器品质要求较高,传统方法达不到要求。为此推导了一般的基于TS模糊的离散化非线性系统模型,利用数字化再设计方法对已经得到的连续控制器作为参照进行离散化控制器设计,并将离散控制器的设计问题转换为与对应连续控制器性能的逼近问题,在线性矩阵不等式框架下统一进行解决;同时考虑了控制器的鲁棒稳定性问题。从仿真结果可以看出,利用数字化再设计方法得到了无人机数字控制器有较好的逼近性能和鲁棒稳定性。

Large amount of utility of digital data brings about much maladies for the muhimedia information＇s security. Digital watermark technology appeares under this circumstance. It is an effective measure for Copyright protection, distortion informing, unauthorized copy tracking etc. The adaptive algorithm based on wavelet packet and the feature of texture were used to choose the embedded position and compute the embedded depth adaptively through the analysis of the texture to coordinate robustness and imperceptibility better. In the experiment, geometry crops, Gaussian noise, mosaic, etc. were applied as the attacks. The experimental results show that robustness of this scheme gets a large progress, especially for the attacks of geometry crops and mosaic.