周健,王敏,洪良

• 1:西安工程大学电子信息学院

摘要(Abstract)：

针对小型无人直升机飞行时模型的非线性和参数不确定的特点,提出一种自适应控制方法。小型无人直升机模型不确定部分由小脑模型关节控制器(CMAC)神经网络在线补偿,控制律及神经网络参数自适应律由反步法回馈递推得到,并且利用粒子群算法优化控制器固定参数来改善系统动态性能。仿真结果表明,在较大的模型气动参数不确定的情况下,所设计的控制律仍能理想地跟踪飞行指令,同时具有快速的收敛性和良好的鲁棒性。

关键词(KeyWords)： 小型无人直升机;自适应控制;反步法;小脑模型关节控制器;在线补偿;粒子群算法

Abstract:

Keywords:

基金项目(Foundation): 陕西省教育厅自然科学基金(17JK0345);; 西安工程大学博士科研启动基金(BS1415);; 陕西省自然科学基础研究计划面上项目(2018JM6089)~~

作者(Author): 周健,王敏,洪良

DOI: 10.16652/j.issn.1004-373x.2018.18.027

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