基于集成建模方法的四旋翼通用控制器设计

Design of quad-rotor general controller based on ensemble modeling method

针对四旋翼无人机通用控制器逼近问题,提出基于集成建模方法学习架构控制器通用形式.首先设计四旋翼悬停与前飞两类任务,通过Matlab/Simulink数值仿真获得训练和测试数据集;然后以四旋翼飞行的状态变量和过程变量作为输入,旋翼升力作为输出,构建集成模型对通用控制器进行逼近;最后将单个固定大小最小二乘支持向量机模型和深度置信网络模型与集成建模方法进行比较.实验结果表明,集成建模能获得更好的效果,验证了针对四旋翼一类飞行任务架构通用控制器是可行的.

To solve the problem of quad-rotor UAV general controller approximation,a method is proposed based on ensemble modeling to learn and construct the general form of controller.Quadrotor hover and forward flight tasks are designed and simulated on Matlab/Simulink to obtain training and test data sets.Then the state variables and process variables of the quadrotor flight are taken as inputs,and the lift forces of the rotors are taken as outputs to build an ensemble model to approximate the general controller.A single fixed size least squares support vector machines model and a deep belief networks model are compared with the ensemble modeling method.The experimental results show that the ensemble modeling method can get better results,and it is feasible to construct a general controller for quadrotor certain type of mission.