对HyTAQ的交换控制:一个具有可变尺寸的随机混合模糊系统的框架
IEEE transactions on cybernetics
|March 25, 2024
概括
这项研究引入了一种用于混合四旋翼机的新模糊控制方法,使地面和空中操作之间无切换成为可能. 这种方法提高了这些复杂的机器人系统的稳定性和控制.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 模糊逻辑系统 模糊逻辑系统
- 随机系统 随机系统 随机系统
背景情况:
- 混合地面和空中四旋翼机 (HyTAQs) 由于模式切换而存在复杂的控制挑战.
- 对于马尔科夫跳跃系统的现有控制方法在描述现实世界的居住时间和整合具有不同代数维度的系统方面存在局限性.
研究的目的:
- 开发使用随机混合模糊系统的HyTAQs的交换模糊控制方法.
- 分析和建模HyTAQs的双模非线性态势动态.
- 在具有可变尺寸的随机系统中推导出稳定性和稳定性的数值可测试标准.
主要方法:
- 使用Takagi-Sugeno (T-S) 模糊模型建模HyTAQ态度动态.
- 开发用于稳定性的开关模糊控制器.
- 利用与模式依赖的奇点矩阵的奇点系统表示来建模状态维度切换.
- 应用马尔科夫过程,以低限的逗留时间来切换模式.
主要成果:
- 对HyTAQs的双模非线性态势动态的新分析和建模.
- 开发能够稳定混合系统的可变尺寸模糊控制器.
- 对具有切换维度的随机系统的稳定性和稳定性标准的推导.
- 与以前的马尔科夫跳跃系统方法相比,表现出较低的保守主义.
结论:
- 拟议的随机混合模糊系统方法有效控制具有决定性停留时间的HyTAQ.
- 该方法集成了具有不同代数维度的子系统,提供了减少的保守主义.
- 设计的可变尺寸模糊控制器显示了HyTAQs的显著有效性和潜力.
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