摘要
为了提高四旋翼飞行器姿态跟踪控制精度,减少通讯开销,节约控制成本,本文建立四旋翼飞行器动力学模型,采用模糊状态观测器估计飞行器状态,解决非线性和不确定性问题,结合改进型事件触发机制设计姿态跟踪控制器,实现飞行器在不同姿态下的精确控制和稳定飞行。仿真结果验证了本文控制方法的有效性。
In order to improve the attitude tracking control accuracy of quadrotor,reduce the communication overhead and save the control cost,a quadrotor dynamics model is designed.Adopting a fuzzy state observer to estimate the state of the vehicle,it can solve the problem of nonlinearity and uncertainty.Combining with the improved event-triggered mechanism to design the attitude tracking controller,the precise control and stable flight of the vehicle under different attitudes can be realized.The simulation results verify the effectiveness of the control method in this paper.
作者
王紫燕
高闯
WANG Ziyan;GAO Chuang(School of Electronic and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)
出处
《辽宁科技大学学报》
CAS
2024年第3期197-203,共7页
Journal of University of Science and Technology Liaoning
基金
辽宁省教育厅项目(JYTMS20230950)。
作者简介
王紫燕(1998—),女,安徽六安人。研究方向:四旋翼飞行器控制。;通讯作者:高闯(1982—),男,辽宁鞍山人,副教授。研究方向:非线性系统的智能控制。
