计算机与数字工程2018，Vol.46Issue(2)：222-224,230,4.DOI:10.3969/j.issn.1672-9722.2018.02.003
基于ARX模型组的自适应LQR控制器在四旋翼飞行器上的应用
Adaptive LQR Control for a Quad-Rotor Helicopter Based on ARX Modes
摘要
Abstract
For the Quad-Rotor Helicopter which is nonlinear and coupled with each other,the design of adaptive LQR control-ler based on ARX modes are discussed.Firstly,the flight states are divided into intervals,and the local ARX model is constructed and identified in each interval.The ARX models of the global system is obtained.Then,the LQR controller with adaptive function is designed based on the ARX models.The real time attitude control verifies the validity and feasibility of the proposed method.关键词
四旋翼飞行器/非线性/姿态控制Key words
quad-rotor Helicopter/nonlinear/attitude 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ARX模型组的自适应LQR控制器在四旋翼飞行器上的应用[J].计算机与数字工程,2018,46(2):222-224,230,4.基金项目
2015年度国家自然科学基金项目"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）
2017年度湖南铁道职业技术学院校级课题"基于RBF-ARX模型的四旋翼飞行器控制策略研究"(编号:K201721)资助. （编号:K201721）
