基于RBF-ARX模型四旋翼飞行器的LQR控制方法

摘要

针对四旋翼欠驱动系统飞行过程中具有的非线性和强耦合性,提出了基于RBF-ARX模型四旋翼飞行器的LQR控制器设计方法.该法首先根据四旋翼飞行器的动力学特性构建四旋翼飞行器RBF-ARX的模型结构,并采用离线非线性参数优化方法辨识模型参数,获取满足工程精度需要的四旋翼非线性动态模型.然后,基于该模型设计了具有状态反馈的四旋翼飞行器的LQR控制器,并通过求解工作点的Riccati方程,获得状态反馈矩阵.最后通过仿真和实时控制结果验证了该方法的有效性和可行性.%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.