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简要论述了小型无人机的经典H2/H∞鲁棒优化算法,并在此优化控制算法基础上,对模糊控制器开展了研究,模糊控制器的知识库主要依据原型无人机的实验数据搭建。为了验证模糊控制器的控制品质和鲁棒性,在小型无人机的静态参数(高度、角度)控制回路上将模糊控制器与原型控制器进行了结合,使之成为鲁棒模糊控制器。对小型无人机鲁棒模糊控制系统参数的控制品质和鲁棒性进行了计算,并将这些特性和原型机进行了比较。仿真结果表明,采用模糊控制器的控制系统鲁棒性提高了近一个数量级。
This paper briefly discusses the classical H2 / H∞ robust optimization algorithm of a small UAV. Based on this optimization algorithm, the fuzzy controller is studied. The fuzzy controller’s knowledge base is mainly based on the experimental data of the prototype UAV Build. In order to verify the control quality and robustness of the fuzzy controller, the fuzzy controller and the prototype controller are combined on the static parameter (altitude, angle) control loop of the small UAV to make it a robust fuzzy controller. The control quality and robustness of the parameters of robust fuzzy control system for small UAV are calculated and compared with the prototype. The simulation results show that the robustness of the control system with fuzzy controller is improved by nearly one order of magnitude.