欠驱动四旋翼飞行器反演模糊自适应控制

摘要

This paper introduces an adaptive fuzzy backstepping control strategy for underactuated quadrotor UAV. The strategy can overcome some shortcomings of traditional backstepping control method, such as the underactuated control law is too complex, tracking performance is sensitive to modeling errors and weak anti⁃interference ability etc. In order to achieve high precision control of the underactuated quadrotor UAV, the algorithm uses the adaptive fuzzy system to estimate the nonlinear function and the interference and to use the fuzzy system to structure virtual control law of the system. Taking the x axis of the underactuated quadrotor UAV as an example, we discuss in detail the design procedure of control law. The controller's stability is analyzed. The simulation results and their analysis show preliminarily that the proposed approach can guarantee the control accuracy and has a strong robustness.%针对欠驱动四旋翼飞行器的结构特性，提出一种自适应模糊反演欠驱动控制算法，该算法可以克服传统反演控制中存在的问题，如欠驱动控制律过于复杂，抗干扰能力弱及系统建模误差对跟踪性能影响较大等弱点，该算法利用自适应模糊系统逼近系统中的非线性函数及扰动项，并利用模糊系统来构造系统的虚拟控制量，从而实现对欠驱动四旋翼飞行器的高精度控制，并以欠驱动四旋翼飞行器的自由度x为例，详细论述了自适应模糊系统的设计过程，并对算法的收敛性做了分析，仿真结果表明，该算法具有很强的抗干扰性，并且达到了理想的控制精度。