基于CNN的纳米无人直升机精确非线性跟踪控制:理论和实施
Xun Gu1, Bin Xian2, Mohan Liu2
1School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, PR China; School of Electrical and Information Engineering, Guiyang University, Guiyang 55005, Guizhou Province, PR China.
ISA transactions
|May 20, 2025
概括
一个新的深卷积神经网络 (CNN) 控制策略增强了纳米无人直升机飞行. 这种几何积分控制提供了更好的可行性,简化了调整,并为强大的性能提供了最小的数据需求.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统工程 控制系统工程
- 人工智能的人工智能
背景情况:
- 纳米无人直升机由于其小尺寸和固有的非线性动力学,提出了复杂的控制挑战.
- 现有的非线性控制器往往需要大量调整和大数据集,这限制了它们的实际应用.
- 准确的建模和强大的控制对于这些微型飞行器的稳定和精确的飞行操作至关重要.
研究的目的:
- 为纳米无人直升机提出基于深度卷积神经网络 (CNN) 的几何整体控制策略.
- 与传统方法相比,证明拟议的控制方法的可行性,易于调整和减少数据要求.
- 提高纳米无人直升机的强度和轨迹跟踪性能,以应对不确定性和外部干扰.
主要方法:
- 系统识别使用深度CNN来捕捉复杂的直升机动态和不确定性.
- 实施几何集成控制策略,以提高强度和稳定性.
- 实时飞行实验以验证拟议的控制系统的性能.
主要成果:
- 深度CNN准确地模拟了纳米直升机的动态,从而实现了有效的不确定性补偿.
- 几何积分控制策略表现出强大的稳定性,可以抵抗未知的外部干扰.
- 实时实验证实了准确的轨迹跟踪和稳定的飞行性能.
- 拟议的方法在处理建模不确定性和外部干扰方面优于传统的控制策略.
结论:
- 拟议的基于深度CNN的几何积分控制策略是纳米无人直升机控制的可行和有效解决方案.
- 该方法在参数调整简单性和减少数据要求方面提供了显著的优势,使其适用于现实世界的应用.
- 这种方法提高了系统的稳定性,并确保了精确的飞行控制,优于现有的方法.
相关概念视频
01:24Absolute Motion Analysis- General Plane Motion
758
Visualize a drone, with its propellers spinning rapidly, hovering mid-air. The fascinating movements and operations of this drone can be comprehended by applying the principle of general plane motion.
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
As the drone's propellers rotate, an upward force is generated that counteracts the force of gravity, enabling the drone to lift off from the ground. This initial movement of the drone is along a straight path, representing a form of translational motion. In this phase, every point on the...
758
01:17Open and closed-loop control systems
2.0K
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
2.0K
01:26Feedback control systems
805
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
805
01:13Linear Momentum in Control Volume
1.1K
Newton's second law is applied to obtain the linear momentum in a control volume in a fluid system. According to this law, the rate of change of linear momentum is equal to the sum of external forces acting on the system. When a control volume matches the fluid system at a specific moment, the forces acting on both are identical. Reynolds transport theorem helps explain this by breaking down the system's linear momentum into two components: the rate of change of linear momentum within...
1.1K
01:29Application of Linearization and Approximation
193
A drone flying through complex terrain often relies on more than one sensing method to estimate small changes in altitude. Along with direct measurements, air pressure provides a useful indirect indicator of vertical movement. Atmospheric pressure decreases as altitude increases, and this relationship is commonly described using an exponential model. Although accurate, converting pressure measurements into altitude values requires calculations that are too complex to perform repeatedly during...
193