四旋翼无人机系统具有参数不确定性及强耦合性的特点,其飞行性能容易受到外部干扰而下降.为了保证四旋翼无人机飞行的稳定性,本文提出了一种基于改进线性扩张状态观测器(Linear Extended State Observer,LESO)的模糊线性自抗扰控制方法...四旋翼无人机系统具有参数不确定性及强耦合性的特点,其飞行性能容易受到外部干扰而下降.为了保证四旋翼无人机飞行的稳定性,本文提出了一种基于改进线性扩张状态观测器(Linear Extended State Observer,LESO)的模糊线性自抗扰控制方法.通过模糊算法自适应调节线性自抗扰控制器的参数,基于Levant跟踪微分器跟踪四旋翼无人机位置及姿态角的二阶微分信号进而提取四旋翼无人机系统的总扰动,使用总扰动偏差及偏差的微分作为输入的模糊控制器来优化LESO对总扰动的估计精度.此外,分析了LESO的收敛性及闭环系统的稳定性.最后通过对比仿真验证了所提控制策略的有效性,并从系统的控制信号,动态响应能力和抗干扰能力等方面对控制方案的性能进行了定量分析.展开更多
Levant cotton root is a folk traditional herb with a long history in China. This article gave a brief introduction on recent research work related to main com- position, pharmacologic effect and clinical application o...Levant cotton root is a folk traditional herb with a long history in China. This article gave a brief introduction on recent research work related to main com- position, pharmacologic effect and clinical application of levant cotton root and pro- posed existing problems and countermeasures for pharmaceutical industrialization.展开更多
文摘四旋翼无人机系统具有参数不确定性及强耦合性的特点,其飞行性能容易受到外部干扰而下降.为了保证四旋翼无人机飞行的稳定性,本文提出了一种基于改进线性扩张状态观测器(Linear Extended State Observer,LESO)的模糊线性自抗扰控制方法.通过模糊算法自适应调节线性自抗扰控制器的参数,基于Levant跟踪微分器跟踪四旋翼无人机位置及姿态角的二阶微分信号进而提取四旋翼无人机系统的总扰动,使用总扰动偏差及偏差的微分作为输入的模糊控制器来优化LESO对总扰动的估计精度.此外,分析了LESO的收敛性及闭环系统的稳定性.最后通过对比仿真验证了所提控制策略的有效性,并从系统的控制信号,动态响应能力和抗干扰能力等方面对控制方案的性能进行了定量分析.
基金Supported by Hebei Academy of Agricultural and Forestry Sciences Development Fund(A2012070302)~~
文摘Levant cotton root is a folk traditional herb with a long history in China. This article gave a brief introduction on recent research work related to main com- position, pharmacologic effect and clinical application of levant cotton root and pro- posed existing problems and countermeasures for pharmaceutical industrialization.