Since small unmanned helicopter flight attitude control process has strong time-varying characteristics and there are random disturbances,the conventional control methods with unchanged parameters are often unworkable...Since small unmanned helicopter flight attitude control process has strong time-varying characteristics and there are random disturbances,the conventional control methods with unchanged parameters are often unworkable.An on-line adaptive fuzzy control system(AFCS)was designed,in a way that does not depend on a process model of the plant or its approximation in the form of a Jacobian matrix.Neither is it necessary to know the desired response at each instant of time.AFCS implement a simultaneous on-line tuning of fuzzy rules and output scale of fuzzy control system.The two cascade controller design with an inner(attitude controller)and outer controller(navigation controller)of the small unmanned helicopter was proposed.At last,an attitude controller based on AFCS was implemented.The flight experiment showed that the proposed fuzzy logic controller provides quicker response,smaller overshoot,higher precision,robustness and adaptive ability.It satisfies the needs of autonomous flight.展开更多
The mathematical model of quadcopter-unmanned aerial vehicle （UAV） is derived by using two approaches： One is the Newton-Euler approach which is formulated using classical meehanics; and other is the Euler-Lagrange...The mathematical model of quadcopter-unmanned aerial vehicle （UAV） is derived by using two approaches： One is the Newton-Euler approach which is formulated using classical meehanics; and other is the Euler-Lagrange approach which describes the model in terms of kinetic （translational and rotational） and potential energy. The proposed quadcopter＇s non-linear model is incorporated with aero-dynamical forces generated by air resistance, which helps aircraft to exhibits more realistic behavior while hovering. Based on the obtained model, the suitable control strategy is developed, under which two effective flight control systems are developed. Each control system is created by cascading the proportional-derivative （PD） and T-S fuzzy controllers that are equipped with six and twelve feedback signals individually respectively to ensure better tracking, stabilization, and response. Both pro- posed flight control designs are then implemented with the quadcopter model respectively and multitudinous simulations are conducted using MATLAB/Simulink to analyze the tracking performance of the quadcopter model at various reference inputs and trajectories.展开更多
基金sponsored by The National High-tech Research and Development Program(Project No.2007AA041503 and 2007AA404260)the Research Program of Shanghai Science and Technology Committee (Project No.07dz05813)State Leading Academic Discipline,Shanghai Leading Aca-demic Discipline
文摘Since small unmanned helicopter flight attitude control process has strong time-varying characteristics and there are random disturbances,the conventional control methods with unchanged parameters are often unworkable.An on-line adaptive fuzzy control system(AFCS)was designed,in a way that does not depend on a process model of the plant or its approximation in the form of a Jacobian matrix.Neither is it necessary to know the desired response at each instant of time.AFCS implement a simultaneous on-line tuning of fuzzy rules and output scale of fuzzy control system.The two cascade controller design with an inner(attitude controller)and outer controller(navigation controller)of the small unmanned helicopter was proposed.At last,an attitude controller based on AFCS was implemented.The flight experiment showed that the proposed fuzzy logic controller provides quicker response,smaller overshoot,higher precision,robustness and adaptive ability.It satisfies the needs of autonomous flight.
基金supported by the National Natural Science Foundation of China(Nos.61673209,61741313,61304223)the Aeronautical Science Foundation(Nos.2016ZA52009)+1 种基金the Jiangsu Six Peak of Talents Program(No.KTHY-027)the Fundamental Research Funds for the Central Universities(Nos.NJ20160026,NS2017015)
文摘The mathematical model of quadcopter-unmanned aerial vehicle （UAV） is derived by using two approaches： One is the Newton-Euler approach which is formulated using classical meehanics; and other is the Euler-Lagrange approach which describes the model in terms of kinetic （translational and rotational） and potential energy. The proposed quadcopter＇s non-linear model is incorporated with aero-dynamical forces generated by air resistance, which helps aircraft to exhibits more realistic behavior while hovering. Based on the obtained model, the suitable control strategy is developed, under which two effective flight control systems are developed. Each control system is created by cascading the proportional-derivative （PD） and T-S fuzzy controllers that are equipped with six and twelve feedback signals individually respectively to ensure better tracking, stabilization, and response. Both pro- posed flight control designs are then implemented with the quadcopter model respectively and multitudinous simulations are conducted using MATLAB/Simulink to analyze the tracking performance of the quadcopter model at various reference inputs and trajectories.
基金supported by the National Nature Science Foundation of China(61304223)the Aeronautical Science Foundation of China(2016ZA52009)the Research Fund for the Doctoral Program of Higher Education of China(20123218120015)
