摘要
针对传统靠人工调节选取LQR控制器加权矩阵所带来的不足,提出采用遗传算法对无人机横侧向模型LQR控制器的加权矩阵进行寻优;在系统的前馈通路中引入积分器,以保证控制系统的无误差跟踪,并根据遗传算法所选择的加权矩阵参数,实现无人机横侧向LQR全状态控制;仿真结果表明该系统的全部状态量能够在较短时间内实现对参考指令的无误差跟踪,并且对外部扰动具有较强的鲁棒性。
To overcome the shortcoming oi the traditional trial and error method, a genetic algorithm （IAA） was proposed to search the optimized values of the weight matrices. The state vector is augmented by adding the control variables of the plant. The augmentation is e- quivalent to introducing an integrator in the feed--forward path for eliminating the tracking errors. Then, based on the GA to achieve the tracking control for an UAV＇s all lateral flight states. Consequently, it is demonstrated that all lateral flight states of the control system can be tracked without static--error and be robust enough to resist to the outer disturbances.
出处
《计算机测量与控制》
北大核心
2013年第6期1544-1546,共3页
Computer Measurement &Control
基金
内蒙古自治区教育厅自然科学研究重点项目(NJ10070)
内蒙古自治区自然科学基金面上项目(2001MS0712)
关键词
遗传算法
LQR控制
无人机
加权矩阵
genetic algorithm
LQR theory
unmanned air vehicle
weight matrices
