周建华, 王姝歆, 颜景平. 基于神经网络的拍翅式微型飞行器姿态控制[J]. 机器人, 2005, 27(4): 306-308,324.
引用本文: 周建华, 王姝歆, 颜景平. 基于神经网络的拍翅式微型飞行器姿态控制[J]. 机器人, 2005, 27(4): 306-308,324.
ZHOU Jian-hua, WANG Shu-xin, YAN Jing-ping. Attitude Control Based on Neural Networks for Micro Aerial Vehicle with Flapping Wings[J]. ROBOT, 2005, 27(4): 306-308,324.
Citation: ZHOU Jian-hua, WANG Shu-xin, YAN Jing-ping. Attitude Control Based on Neural Networks for Micro Aerial Vehicle with Flapping Wings[J]. ROBOT, 2005, 27(4): 306-308,324.

基于神经网络的拍翅式微型飞行器姿态控制

Attitude Control Based on Neural Networks for Micro Aerial Vehicle with Flapping Wings

  • 摘要: 对于拍翅式微型飞行器姿态的控制,提出了一个基于BP神经网络和平均力矩的控制方案.每个拍动周期结束后,依据姿态误差通过神经网络控制器来确定迎角的调整量,微型飞行器在下一周期获得所需的姿态控制平均力矩.对控制系统进行了仿真,仿真结果表明该系统具有鲁棒性.

     

    Abstract: For attitude control of micro aerial vehicle with flapping wings, a control method based on BP(backpropagation) neural networks and average moments is proposed. At the end of each wingbeat, the neural network controller determines the adjustment value of attack angle according to attitude errors. The micro vehicle obtains desired average moments which control attitude at next wingbeat. The proposed controller is simulated. The results show that the control system is robust.

     

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