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在全状态反馈的前提下 ,设计了一种基于在线神经网络和反馈线性化的非线性直接自适应控制器。本文首先利用多重尺度摄动与动态逆技术结合 ,设计了无人驾驶飞机的解析动态逆控制器 ;然后引入一个单隐层在线神经网络来修正各种因素引起的状态误差 ,并证明了控制器的稳定性。最后对在线网络的实现做了详细描述。仿真分析表明 ,该方案具有很强的鲁棒性和对故障状态的适应性。
Under the condition of full state feedback, a nonlinear direct adaptive controller based on online neural network and feedback linearization is designed. In this paper, we first use the multi-scale perturbation and dynamic inverse technology to design a drones dynamic inverse controller; then introduce a single hidden layer online neural network to correct the state error caused by various factors, and prove that the controller Stability. Finally, the realization of online network is described in detail. Simulation analysis shows that this scheme has strong robustness and adaptability to fault conditions.