基于非线性和神经网络的小型四旋翼飞行器机器人控制

Control of Small Quad-Rotor Aircraft Robot Based on Nonlinear and Neural Networks

针对四旋翼飞行器机器人控制算法复杂,保持飞行稳定困难的问题,提出了基于非线性和神经网络的小型四旋翼飞行器机器人控制策略。建立了四旋翼飞行器机器人动力学模型,将基于状态相关的Riccati方程(SDRE)和神经网络相结合,采用神经网络进行飞行器速度控制。将提出的控制策略采用Matlab/Simulink进行仿真验证,结果表明该控制策略在四旋翼无人机控制上具有可行性,对确保四旋翼飞行器机器人的稳定飞行提供了参考。

A control strategy for small quad-rotor aircraft robots based on nonlinear and neural networks is proposed to address the complex control algorithms and difficulties in maintaining flight stability.A dynamic model of a quad-rotor aircraft robot is established,which combines the state dependent Riccati equation(SDRE)with a neural network for aircraft speed control.The proposed control strategy is simulated and validated by Matlab/Simulink,and the result shows that the control strategy is feasible in the control of quad-rotor unmanned aerial vehicles,and it provides a reference for ensuring the stable flight of quad-rotor robots.