Three-dimensional fuzzy control of mini quadrotor UAV trajectory tracking under impact of wind disturbance
Three-dimensional fuzzy control of mini quadrotor UAV trajectory tracking under impact of wind disturbance
复制标题
风扰影响下微型四旋翼无人机轨迹跟踪三维模糊控制
DOI：
10.1109/icamechs.2016.7813477
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Huiling Zhou
中科院分区：
文献类型：
--
作者：
Chi Zhang;Xiaoguang Zhou;Hang Zhao;Aini Dai;Huiling Zhou
如今，由于具有机动性强、便携性好和成本低等优势，微型四旋翼无人机备受关注。在一些特殊应用中，比如狭窄空间搜索、隐蔽探测以及大区域协同探测等，微型四旋翼无人机比大型无人机更适用。然而，重量轻和尺寸小导致微型四旋翼无人机难以采用复杂的控制方法。此外，抗风性能对其实用性至关重要。本文分析了欠驱动动力学、强非线性和耦合特性。之后，我们提出了一种用于稳定姿态控制和精确轨迹跟踪控制的三维模糊PID控制方法。误差、误差的导数以及误差的二阶导数是控制器的三维输入。使用Simulink后，结果表明所提出的控制方法实现了精确的轨迹跟踪和稳健的姿态控制。此外，基于德莱顿模型生成了一种湍流风场来干扰控制过程。这项研究表明，在风扰影响下，三维模糊控制方法优于传统的模糊PID方法。最后，结果证明我们所提出的控制方法具有优异的静态和动态特性。
Nowadays, due to advantages of maneuverability, portability and low cost, the mini quadrotor unmanned aerial vehicle (UAV) catches much attention. In some special applications such as narrow space search, stealth detection and cooperative detection in huge region, the mini quadrotor UAV is more suitable than a big one. However, light weight and mini size lead to phenomenon that it is hard for mini quadrotor UAV to use complex control method. Besides, the performance of wind resistant is significant for practicability. In this paper, the under-actuated dynamics, strong nonlinear and coupling characteristics has been analyzed. After that, we propose a three-dimensional fuzzy PID control method for stabilizing attitude control and precise trajectory tracking control. The error, derivative of the error and the second order derivative of the error are the three-dimensional inputs of the controller. After using Simulink, the result shows that the proposed control method realizes precise trajectory tracking and robust attitude control. Furthermore, a kind of turbulent wind field, generated based on Dryden model, is added to disturb the control process. This study shows that three-dimensional fuzzy control method is better than the conventional fuzzy PID method under impact of wind disturbance. Finally, the results prove that our proposed control method has both excellent static and dynamic characteristics.