| 利用模糊系统的直升机的自适应控制 |
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| 引用本文： | 金宗华,李远昌,姜根泽. 利用模糊系统的直升机的自适应控制[J]. 控制工程, 2009, 16(1) |
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| 作者姓名： | 金宗华 李远昌 姜根泽 |
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| 作者单位： | 华东理工大学,信息学院,上海,200237;釜庆大学,电子系,釜山,608-737 |
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| 摘 要： | 针对直升机动力学为非线性,且存在不确定因素和状态变化,设计利用模糊系统的自适应控制器.设计的控制器是系统的输出跟踪参考模型输出的直接调整模糊控制器参数的自适应控制器.又利用Lyapunov函数保证了闭环控制系统的稳定性并推导最优的自适应规律.实验结果表明,有外部扰动的情况下所设计的自适应控制器比模糊控制器对直升机控制具有良好的动态响应和稳定性,是一种非常有效的控制方法.
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| 关 键 词： | 直升机 自适应控制 模糊系统 非线性系统 |
Adaptive Control of Helicopter Using Fuzzy Systems |
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| JIN Zong-hua,LEE Won-chang,KANG Geun-tack. Adaptive Control of Helicopter Using Fuzzy Systems[J]. Control Engineering of China, 2009, 16(1) |
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| Authors: | JIN Zong-hua LEE Won-chang KANG Geun-tack |
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| Affiliation: | 1.Information Science and Engineering Institute;East China University of Science and Technology;Shanghai 200237;China;2.Department of Electronic;Pukyong National University;Pusan 608-737;Korea |
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| Abstract: | An adaptive fuzzy control scheme is presented for nonlinear helicopter system with uncertainty or unknown variations of parameters.The proposed controller is a model reference adaptive controller in which the fuzzy parameters are adjusted to guarantee that the plant output tracks the reference model output.The stability of the closed-loop system is proved by using Lyapunov function.Experiments of a small model helicopter with parameter variations show the usefulness of the proposed adaptive controller. |
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| Keywords: | helicopter adaptive control fuzzy system nonlinear system |
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