基于神经反向的四旋翼快速控制与执行器和
Yiming Wang1, Hao An1, Linchang Lu1
1Space Control and Inertial Technology Research Center, Harbin Institute of Technology, 92 Xidazhi Street, Harbin, 150001, PR China.
ISA transactions
|June 5, 2025
概括
本研究提出了一种用于快速四旋翼的态度控制的新控制策略,解决了没有小角度假设的执行器和和干扰. 该方法确保了强大的和快速的态度调节,以提高飞行器的性能.
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
- 人工智能在控制中
背景情况:
- 四旋翼姿势控制对于飞行器的稳定性和机动性至关重要.
- 执行器和和外部干扰对实现快速而精确的态度调节构成重大挑战.
- 传统的控制方法通常依赖于小角度近似,限制了在侵略性机动中的性能.
研究的目的:
- 为四旋翼机开发一种快速姿态控制策略,有效地处理执行器和.
- 在不依赖小角度假设的情况下,解开四旋翼的姿态动态.
- 在存在不匹配干扰的情况下,提高态度控制的稳定性和性能.
主要方法:
- 设计了一个低复杂度的神经动态反向来解态度动态.
- 一个改进的终端滑动模式控制器被开发用于快速态度调节.
- 引入了一种新的反机机制来管理执行器和.
- 实施了有限时间干扰观察器,用于在线估计不匹配的干扰.
主要成果:
- 拟议的控制策略有效地解了态度动态,消除了小角度限制.
- 集成的反机机制成功地减轻了执行器和效应.
- 有限时间干扰观察器准确地估计了实时的干扰.
- 控制器在具有挑战性的条件下表现出快速而精确的态度调节.
结论:
- 开发的控制方法为快速四旋翼姿态控制提供了强大而有效的解决方案.
- 神经动态反向,终端滑动模式控制和干扰观察的结合提高了系统性能.
- 该方法通过理论分析和实践实验得到验证,证实了其有效性.
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