计算机与数字工程2017，Vol.45Issue(4)：659-664,674,7.DOI:10.3969/j.issn.1672-9722.2017.04.014
基于RBF-ARX模型四旋翼飞行器的LQR控制方法
LQR Control for A Quad-Rotor Helicopter Based on RBF-ARX Mode
摘要
Abstract
For the quad-rotor helicopter which is nonlinear and coupled with each other, the design of LQR controller on quad-rotor helicopter based on RBF-ARX mode are discussed.The structure of the quad-rotor helicopter' RBF-ARX model based on dynamic properties is built firstly, and the model parameters is identified using the off-line nonlinear parameter optimization methods, the quad-rotor helicopter's nonlinear dynamic model is obtained to meet the demand of engineering precision.then, the state feedback 's LQR controller based on the model is given, and by solving the Riccati equation of working point, the state feedback matrix is accessed.Finally, the simulation results and real time attitude control verify the validity and feasibility of the proposed method.关键词
四旋翼飞行器/非线性/姿态控制/状态反馈/实时控制Key words
quad-rotor helicopter/nonlinear/attitude control/state feedback/real time control分类
信息技术与安全科学引用本文复制引用
刘丽丽,左继红,吴军..基于RBF-ARX模型四旋翼飞行器的LQR控制方法[J].计算机与数字工程,2017,45(4):659-664,674,7.基金项目
2015年度国家自然科学基金"抗参数横揺的欠驱动船舶航迹跟踪控制研究"(编号:61403045) （编号:61403045）
2015年度湖南省教育厅科学研究资助项目"四旋翼飞行器的建模及控制策略的研究"(编号:15C0903)资助. （编号:15C0903）
