广西师范大学学报（自然科学版）2017，Vol.35Issue(2)：24-31,8.DOI:10.16088/j.issn.1001-6600.2017.02.004
基于附加惯性项BP神经网络的四旋翼无人机姿态控制研究
Study of Applying BP Neural Network with Inertia Term Self-tuning to Attitude Stability of Quadrotor Unmanned Aerial Vehicle
摘要
Abstract
Due to the shortcomings that traditional PID control fails to update the tuning of Kp,Ki,Kd parameters in real time and the control accuracy is not high,this paper puts forward a kind of attitude stability control method of the combination between BP neural network with inertia term and PID control.And the inertia coefficient is modified to achieve Quadrotor Unmanned Aerial Vehicle(QUAV)'s attitude control during the flight under disturbance.The simulation experiment analysis presents that when compared with the BP neural network parameters self-tuning PID control and the traditional PID control,this control method improves the performance of anti-disturbance and robustness and the dynamic performance,thus holding practical value for reference to improve the attitude stability control of QUAV.关键词
PID控制/BP神经网络/参数自整定/抗扰性/鲁棒性Key words
PID control/BP neural network/parameters self-tuning/anti-disturbance/robustness分类
信息技术与安全科学引用本文复制引用
钟海鑫,丘森辉,罗晓曙,唐堂,杨力,赵帅..基于附加惯性项BP神经网络的四旋翼无人机姿态控制研究[J].广西师范大学学报（自然科学版）,2017,35(2):24-31,8.基金项目
国家自然科学基金(11262004) （11262004）
广西多源信息挖掘与安全重点实验室开放基金(MIMS15-06) （MIMS15-06）
广西信息科学实验中心基金(KA1430) （KA1430）
广西研究生教育创新计划项目(XYCSZ2017051) （XYCSZ2017051）
