| 基于FCMAC干扰观测器的飞行器非线性控制 |
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| 引用本文： | 吴浩,王永骥,李传锋,唐灵灵.基于FCMAC干扰观测器的飞行器非线性控制[J].华中科技大学学报(自然科学版),2009(8). |
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| 作者姓名： | 吴浩 王永骥 李传锋 唐灵灵 |
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| 作者单位： | 华中科技大学控制科学与工程系;华中科技大学图像信息处理与智能控制教育部重点实验室; |
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| 基金项目： | 国家自然科学基金资助项目(60674105); 航天支撑基金2008资助项目 |
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| 摘 要： | 为解决反馈线性化(FL)方法的控制性能过于依赖精确系统模型的问题,提出了一种自适应的非线性控制策略,并应用于升力式飞行器的控制器设计.利用模糊小脑模型神经网络(FCMAC)良好的非线性逼近能力和自学习能力,设计了基于FCMAC的干扰观测器,对模型的不确定性和干扰进行在线估计.其网络权值更新规则采用李亚普诺夫方法设计,保证了闭环系统跟踪误差和干扰观测误差的有界.6自由度仿真结果显示该控制方案可实现姿态角对制导指令的稳定、快速跟踪,具有良好的鲁棒性.
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| 关 键 词： | 飞行控制系统 非线性系统 神经网络 干扰观测器 反馈线性化 姿态控制 |
Nonlinearly controlling the vehicle using FCMAC disturbance observer |
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| Wu Haoa Wang Yongjia,b Li Chuanfenga Tang Linglinga.Nonlinearly controlling the vehicle using FCMAC disturbance observer[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2009(8). |
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| Authors: | Wu Haoa Wang Yongjia b Li Chuanfenga Tang Linglinga |
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| Institution: | Wu Haoa Wang Yongjia,b Li Chuanfenga Tang Linglinga(a Department of Control Science Engineering,b Key Laboratory of Image Processing andIntelligent Control,Huazhong University of Science and Technology,Wuhan 430074,China) |
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| Abstract: | The performance of feedback linearization(FL) depends largely on the accuracy of systems.Thus,an adaptive FL strategy is proposed to design flight controller for lifting vehicle.Fuzzy cerebella model articulation control(FCMAC) disturbance observer is developed to deal with the uncertainties and disturbance in the nominal model by using nonlinearity approximating and self-learning abilities.Weights updating laws are derived by Lyapunov method,which could guarantee the boundedness of all signals in the entir... |
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| Keywords: | flight control system nonlinear system neural networks disturbance observer feedback linearization attitude control |
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