基于AFSMC算法的四旋翼飞行器控制策略研究

Research on control strategy of quad rotor based on AFSMC

摘要:

针对四旋翼飞行器在飞行过程中,控制系统存在非线性、强耦合、不确定性和鲁棒性差的问题,建立了关于四旋翼飞行器的动力学数学模型,将自适应控制、模糊控制和滑模控制相结合,提出基于自适应模糊滑模控制(AFSMC)的快速平稳控制策略。采用模糊系统推理方法实现理想控制律的逼近。在满足李雅普诺夫稳定性条件的前提下进行控制器的设计和稳定性分析,并结合四旋翼的数学模型和给定参数进行了MATLAB仿真。仿真结果表明,AFSMC控制器相比常规PID控制器具有良好的动态性能和抗干扰能力。

Abstract:

Aiming at solving the system problems of nonlinear, strong coupling, uncertainty and poor robust with the quadrotor in flight process, this paper establishes the dynamic mathematical model of quadrotor, A fast and stable control strategy based on adaptive fuzzy sliding mode control (AFSMC) is proposed by combining adaptive control, fuzzy control and sliding mode control. The approximation of ideal control law is realized by using fuzzy system inference method. Under the premise of satisfying the Lyapunov stability conditions, we performed to controller design and stability analysis, and MATLAB simulation was carried out with four rotor mathematical model and parameter is given. The simulation results show that the AFSMC controller has good dynamic performance and anti-disturbance ability compared with the conventional PID controller.