| 四旋翼飞行器姿态与高度控制器的设计 |
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| 引用本文： | 翁理国,李倩,王伟. 四旋翼飞行器姿态与高度控制器的设计[J]. 安徽大学学报(自然科学版), 2015, 0(1): 52-59. DOI: 10.3969/j.issn.1000-2162.2015.01.009 |
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| 作者姓名： | 翁理国 李倩 王伟 |
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| 作者单位： | 南京信息工程大学 信息与控制学院,江苏 南京,210044 |
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| 基金项目： | 江苏省自然科学基金资助项目 |
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| 摘 要： | 由于微型飞行器(micro aerial vehicles,简称MAVS)能够在人类难以接近的地方收集情报,因此,其吸引了越来越多的关注.以四旋翼飞行器为平台,以实现飞行器姿态和高度控制为目的进行研究.在姿态控制上,采用一种不依赖于具体模型的记忆控制方法设计控制器.在高度控制上,采用一种线性二次高斯(linear quadratic Gaussian,简称LQG)控制方法设计控制器.实际飞行结果表明,设计的控制器具有良好的稳定性和跟踪性.
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| 关 键 词： | MAVS 姿态控制 高度控制 记忆控制 LQG |
Controller design of quad-rotor MAVS attitude and altitude |
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| WENG Li-guo,LI Qian,WANG Wei. Controller design of quad-rotor MAVS attitude and altitude[J]. Journal of Anhui University(Natural Sciences), 2015, 0(1): 52-59. DOI: 10.3969/j.issn.1000-2162.2015.01.009 |
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| Authors: | WENG Li-guo LI Qian WANG Wei |
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| Abstract: | MAVS had attracted more and more attention because of collecting intelligence in human inaccessible areas .In this paper ,both attitude and altitude controls of a quad‐rotor type MAVS were discussed and analyzed .On the attitude control ,one order memory based controller was selected , the performance of which was independent of the detail model information .On the altitude control ,LQG controller was proposed .Actual flight results showed that the designed controller had a good stability and traceability . |
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| Keywords: | MAVS attitude control altitude control memory based control LQG |
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