摘要
研究了三自由度直升机系统的飞行控制。针对该系统高阶次、非线性、强耦合、多输入多输出的特点,提出了一种基于自适应模糊理论的H_∞混合灵敏度鲁棒控制方法。通过间接自适应模糊逻辑系统逼近非线性系统中的未知参数,增强了在线控制性能;结合H_∞混合灵敏度鲁棒控制,抑制了外界的干扰和参数摄动;运用Laypunov理论证明了系统的全局稳定性。实际飞行结果表明:三自由度直升机系统具有良好的鲁棒性和稳定性,同时,证明了该控制方法的有效性和优越性。
The flight control of three degree of freedom（3-DOF） helicopter system is studied. A H_∞mixed sensitivity robust control method based on adaptive fuzzy theory is proposed,aiming at characteristics of high order,nonlinear,strong coupling,multi input and multi output of the system. Indirect adaptive fuzzy logic system approaches the unknown parameters in the nonlinear system,and enhances the performance of online control.Combined with H_∞mixed sensitivity robust control control,the external disturbance and parameter perturbation are suppressed. The global stability of the system is proved by using Laypunov theory. The actual flight results show that the three degree of freedom helicopter system has good robustness and stability,and the effectiveness and superiority of the control method is also explained.
出处
《传感器与微系统》
CSCD
2018年第1期74-78,共5页
Transducer and Microsystem Technologies
基金
云南省科技计划资助项目(2015ZC005)
关键词
三自由度直升机
H∞鲁棒控制
自适应模糊
混合灵敏度
three degree of freedom helicopter
Hz robust control
adaptive fuzzy
mixed sensitivity
