论文标题
间隔价值模糊建模和四四形的间接自适应控制
Interval Valued Fuzzy Modeling and Indirect Adaptive Control of Quadrotor
论文作者
论文摘要
在本文中，使用模糊聚类估计和滑动模式控制的组合用于控制四摩托系统，其数学模型是复杂的，并且具有未知元素，包括结构，参数等。此外，它们可能会受到外部环境干扰的影响。首先，系统的非线性未知部分是通过模糊模型估算的，提出了一种新方法，用于构建基于已识别系统的输入图数据的构建高take-sugeno（TS）间隔值模型模型（IVFM）。在构建了估计四项系统未知部分的模糊模型之后，使用了模糊模型的动力学部分的控制和在线调整。在此步骤中，将以自适应形式估算系统模型，以便可以在滑动模式控制中使用动态方程。最后，应用了所提出的技术，并提出了模拟结果，以显示该方法在控制四极管中使用未知非线性动力学的有效性。
In this paper, a combination of fuzzy clustering estimation and sliding mode control is used to control a quadrotor system, whose mathematical model is complex and has unknown elements, including structure, parameters, and so on. In addition, they may be affected by external environmental disturbances. At first, the nonlinear unknown part of the system is estimated by a fuzzy model, A new method is presented for constructing a Takagi-Sugeno (TS) interval-valued fuzzy model (IVFM) based on inputoutput data of the identified system. Following the construction of the fuzzy model that estimates the unknown part of the quadrotor system, a control and on-line adjusting of the fuzzy modeled part of dynamics is used. In this step, the system model will be estimated in adaptive form so that the dynamic equations can be used in sliding mode control. Finally, the proposed technique is applied, and the simulation results are presented to show the effectiveness of this approach in controlling the quadrotor with unknown nonlinear dynamics.
