南京理工大学学报（自然科学版）2018，Vol.42Issue(1)：33-39,7.DOI:10.14177/j.cnki.32-1397n.2018.42.01.005
八旋翼微型飞行器的自适应滑模控制器设计
Designing adaptive sliding mode controller for an eight-rotor MAV
摘要
Abstract
This paper focuses on intelligent control of the eight-rotor micro aircraft vehicle(MAV) which is used to obtain stable control due to uncertainties. This paper designs a robust and stable at-titude control strategy for the eight-rotor MAV to accommodate system uncertainties,variations,and external disturbances. Firstly,by employing interval type-Ⅱ fuzzy neural network to approximate the nonlinearity function and uncertainty functions. The parameters of the interval type-Ⅱ fuzzy neural network and gain of sliding mode control can be tuned on-line by adaptive laws based on Lyapunov synthesis approach,and the Lyapunov stability theorem has been used to testify the asymptotic stabil-ity. The simulation results show that the performance of interval type-Ⅱ fuzzy neural network based adaptive sliding mode controller can guarantee the eight-rotor MAV control system with good per-formances under uncertainties,variations,and external disturbances,and which is significantly im-proved compared with the conventional adaptive sliding mode controller,type-Ⅰfuzzy neural network based sliding mode controller.关键词
区间二型模糊神经网络/自适应滑模控制器/八旋翼微型飞行器/姿态控制策略/不确定性/外部干扰Key words
interval type-Ⅱfuzzy neural network/adaptive sliding mode controller/eight-rotor micro aircraft vehicle/attitude contral strategy/uncertainties/enternal disturbances分类
信息技术与安全科学引用本文复制引用
张磊,王冠,杨习贝,王平心..八旋翼微型飞行器的自适应滑模控制器设计[J].南京理工大学学报（自然科学版）,2018,42(1):33-39,7.基金项目
国家自然科学基金(61572242 （）
61503160) （）
