桂林电子科技大学学报2016，Vol.36Issue(5)：406-411,6.
基于自适应模糊PID的四旋翼飞行器悬停控制
Hovering control of four-rotor aircraft based on adaptive fuzzy proportion integration differentiation
摘要
Abstract
In order to improve control performance,robustness of the four-rotor aircraft in the process of hovering flight,a control method based on fuzzy adaptive proportion integration differentiation is proposed.Firstly Newton-Euler equations are used to construct the non-linear model of four-rotor aircraft.Then the inner loop of attitude control is designed,the outer loop of position control is designed,and the adaptive fuzzy PID controller is designed by Matlab.Finally simulation results show that the adaptive Fuzzy PID controller has better response speed and robustness,it can effectively make the aircraft reach the target position and remain hovering flight.The bicyclic control of four-rotor aircraft is realized.关键词
四旋翼飞行器/动力学建模/自适应模糊PID控制/悬停控制Key words
four-rotor aircraft/dynamic modeling/adaptive fuzzy PID/hovering control分类
航空航天引用本文复制引用
王健,王承龙,李智,王勇军..基于自适应模糊PID的四旋翼飞行器悬停控制[J].桂林电子科技大学学报,2016,36(5):406-411,6.基金项目
国家自然科学基金(61361006) （61361006）
广西自然科学基金(2015GXNSFBA139251) （2015GXNSFBA139251）
桂林航天工业学院院级基金(YJ1304) （YJ1304）
