一个改进的轨迹跟踪控制四旋翼飞机使用一个新的滑动模式控制与模糊的PID表面
Elisabeth Andarge Gedefaw1, Chala Merga Abdissa1, Lebsework Negash Lemma1
1School of Electrical and Computer Engineering, Addis Ababa University, Addis Ababa, Ethiopia.
PloS one
|November 21, 2024
概括
这项研究引入了一种新的Fuzzy PID表面,用于超扭转滑动模式控制,增强四旋翼轨迹跟踪以防止干扰. 与现有方法相比,新的控制器提供了更高的性能和稳定性.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 航空航天工程 航空航天工程
- 人工智能的人工智能
背景情况:
- 四旋翼无人机 (UAV) 需要强大的控制来稳定轨迹跟踪,特别是在外部干扰下.
- 像滑动模式控制 (SMC) 这样的现有控制方法可能会遭受聊和有限的适应性.
- 适应性增益参数调整对于提高控制器稳定性和性能至关重要.
研究的目的:
- 为四旋翼无人机开发和评估一种新的超级扭转滑动模式控制 (STSMC) 策略,其中包括集成的四旋翼无人机的 Fuzzy PID 表面.
- 为了提高轨迹跟踪的准确性和稳定性,防止外部干扰和参数变化.
- 减少控制工作,确保运营安全和经济可行性.
主要方法:
- 使用牛顿-欧勒法开发一个六度自由度 (6-DOF) 四旋翼动态模型.
- 一个强大的STSMC控制器的设计,其中包含一个模糊的PID表面,用于自动调整增益参数.
- 使用Lyapunov方法对拟议控制器的稳定性分析.
- 数字模拟将拟定的控制器与SMC,模糊的SMC和模糊的STSMC进行比较.
主要成果:
- 拟议的 Fuzzy PID Surface STSMC 显示出卓越的轨迹跟踪性能.
- 控制器在处理参数变化和拒绝外部干扰方面表现出更强的能力.
- 与替代方法相比,模拟结果表明聊减少,控制工作更顺.
- 控制器在各种测试场景中被证明是强大的和适应性的.
结论:
- 新的Fuzzy PID Surface STSMC在四旋翼控制性能和稳定性方面提供了显著的改进.
- 适应性增强调整机制有效地减轻了聊天,并增强了干扰排斥.
- 拟议的控制策略是四旋翼应用的可行,安全和经济可行的解决方案.
相关概念视频
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01:24PI Controller: Design
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01:26PD Controller: Design
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01:26Feedback control systems
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01:17Open and closed-loop control systems
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