| Author Name | Affiliation | | Zhiyu Li | Institute of Unmanned Aircraft Research, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China | | Hanxin Chen | College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China | | Congqing Wang | College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China | | Kaijia Xue | College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China |
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| Abstract: |
| An inverse model control based on TS-fuzzy support vector regression (TS-fuzzy SVR) for a quad-rotor aircraft is developed. The TS-kernel is the product of linear combination of input and a cluster of output corresponding to a cluster of TS-type fuzzy rules. The output of TS-fuzzy SVR is a linear weighted sum of the TS-kernels. The dynamical model of the quad-rotor aircraft is derived. A new control scheme combined with TS-fuzzy SVR inverse model control and PID control is presented so that the TS-fuzzy SVR inverse model control enhances capabilities of disturbance rejection and the robustness while the PID control enhances fast responsiveness and reliability of the system. Simulation results show the capabilities of the developed control for the attitude system of quad-rotor aircraft. |
| Key words: support vector regression TS-fuzzy SVR inverse model control quad-rotor aircraft attitude control |
| DOI：10.11916/j.issn.1005-9113.15337 |
| Clc Number:TP181 |
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| Descriptions in Chinese: |
| 基于TS模糊支持向量机回归的四旋翼无人机逆模控制 李志宇1，陈含欣2，王从庆2，薛楷嘉2 (1.南京航空航天大学 无人机研究院，南京 210016; 2.南京航空航天大学 自动化学院，南京 210016) 创新点说明：研究了一种基于TS模糊支持向量机回归的四旋翼无人机逆模控制方法，TS核是对应一组TS模糊推理规则的输入和一组输出线性组合的点积，TS模糊支持向量机回归的输出是TS核的线性加权和，推导了四旋翼无人机的动力学模型，提出一种将TS模糊支持向量机回归逆模控制与PID控制结合的新方法，其中TS模糊支持向量机回归逆模控制可以提高抗干扰和鲁棒性能，PID控制增加系统的快速响应和可靠性。仿真结果表明了该控制方法可以提高四旋翼姿态系统的控制性能。 研究目的： 采用PID 控制结合TS模糊支持向量机回归逆模控制来提高四旋翼无人机姿态控制的性能。 研究方法： 通过推导TS模糊支持向量机回归模型与TS模糊推理系统输出等效关系，建立四旋翼无人机动力学数学模型，在matlab仿真环境下开展实验验证，计算机2.4GHZ,2G内存，window7.0。 结果： 分别采用PID控制、Backstepping控制和TS模糊支持向量机回归逆模控制，仿真实验给出了无噪声和有噪声下的俯仰角和俯仰角速度变化曲线，仿真结果表明： TS模糊支持向量机回归逆模控制能够获得更好的控制效果。 结论： 采用TS模糊支持向量机回归逆模控制方法对四旋翼无人机姿态系统进行控制，设计了逆模控制器，并增加了PID控制，具有快速响应和抗干扰性能。 关键词：支持向量机回归，TS模糊支持向量机，逆模控制，四旋翼，姿态控制 |
