摘要
无人直升机具有多种特点,应用前景极为广泛。但它在几种模态转换的过程中,存在着很大的不确定性,建模困难,很难实现工作模态的平稳转换。该文基于直升机模态转换期间的近似动力学模型,利用模糊逻辑的方法设计出一种模态转换控制器,并基于灵敏度分析方法,提出一种判定系统李亚普诺夫稳定的方法。仿真实验表明所设计出的控制器较好地解决了模态之间的平稳转换问题,并验证了所设计的控制系统满足李亚普诺夫稳定性,取得了满意的结果。
To many difficulties in realizing the smooth change between modes in unmanned helicopter systems with many uncertainties in modeling,a fuzzy controller is accomplished with approximate dynamic model,and a new method,based on sensitivity analysis,is proposed to verify its Lyapunov stability.The result of computer simulation indicates its efficiency and stability in smooth change between modes.
出处
《计算机工程与应用》
CSCD
北大核心
2002年第1期217-219,共3页
Computer Engineering and Applications
关键词
无人直升机
模态转换
灵敏度分析
李亚普诺夫稳定
Unmanned helicopter systems ,Mode to mode change,Sensitivity analysis,Lyaponov stability
