八旋翼微型飞行器的不确定性导致很难获得稳定的控制.鉴于此,提出一个稳定的八旋翼微型飞行器的姿态控制策略以适应系统的不确定性因素和外部干扰.首先,采用区间二型模糊神经网络来逼近八旋翼微型飞行器动力学模型中的非线性和不确定性函数.然后,用李诺夫稳定性定理证明闭环系统的渐近稳定性,并利用对区间二型模糊神经网络和滑模控制增益进行在线调整.仿真结果表明,基于区间二型模糊神经网络的自适应滑模控制器能够保证在不确定性因素和有外部干扰的情况下保证八旋翼微型飞行器控制系统的良好性能,与传统的自适应滑模控制器及基于区间一型模糊神经网络的滑模控制器相比,性能显著提高.%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.
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