摘要
针对四旋翼飞行器的姿态与位置控制问题,提出基于PID神经网络的控制方法。建立四旋翼飞行器的数学模型,引入四旋翼飞行器联合仿真平台,利用Matlab设计PID神经网络姿态控制器,训练后能达到良好的控制效果,最后设计PID神经网络位置控制器并进行训练。仿真结果表明,该控制方法在性能上明显优于传统PID,对飞行器有良好的控制效果。
To solve the problem of Quadrotor＇s attitude and position control, the control algorithm based on PID neural network is proposed. In this paper, the mathematical model of Quadrotor is set up, and the associated simulation platform of Quadrotor is imported. The PID neural network attitude controller which can achieve good control effect after training is designed by using Matlab. The PID neural network position controller is designed and trained. The simulation result shows that the algorithm is better than the traditional PIE） algorithm.
出处
《自动化与信息工程》
2015年第1期18-22,共5页
Automation & Information Engineering
