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1、JournalofIntelligent&FuzzySystems22(2011)267283267DOI:10.3233/IFS-2011-0488IOSPressAdaptivefuzzycontrolforaquadrotorhelicopterrobusttowindbuffetingC.Cozaa,C.Nicola,C.J.B.Macnaba,∗andA.Ramirez-SerranobaDepartmentofElectricalandComputerEngineering,Univers
2、ityofCalgary,Calgary,AB,CanadabDepartmentofMechanicalandManufacturingEngineering,UniversityofCalgary,Calgary,AB,CanadaAbstract.Thenonlinearandopen-loopunstabledynamicsofaquadrotorhelicoptermakesacontrolsystemdesignnon-trivial.However,evenmoredifficultyli
3、esinadaptingtoanuncertaindynamicmodelandunknownpayloadswhileremainingrobusttosignificantbuffetingwinddisturbances.Fuzzy-adaptiveorneural-adaptivecontrolofferpossiblesolutions,exhibitingcom-putationalefficiencyandadaptationtoarbitrarynonlinearities.Acommon
4、methodformakingtheseadaptivecontrolsrobusttodisturbances,e-modification,isfoundtobeunsuitablewhenappliedtothequadrotorinsimulation.Theadaptiveparameterstendtodrifttolargevaluesinthepresenceofasinusoidaldisturbance.Inthiswork,weproposeamethodthatusesalter
5、nateadaptiveparametersintheadaptationscheme.Theproposedmethodsuccessfullycontrolsthequadrotorinsimulation,withrealisticcon-trolsignalsandcomputationaleffort.Theadaptiveparameterdriftandcontrolchatterpresentwithe-modificationbothvanish.Moreover,performanc
6、eimprovesdramaticallyinthepresenceofdisturbances.Keywords:Adaptivefuzzycontrol,neuraladaptivecontrol,cerebellarmodelarticulationcontroller(CMAC),quadrotorhelicopter,helicoptercontrol1.Introductionfourrotors,orquadrotor,hasnumerousadvantagesovertradition
7、alhelicopterdesignsinthecaseofsmallTraditionallyusedformilitaryoperations,electricallyactuatedaircraft[19].UnmannedAerialVehicles(UAVs)arenowfind-SuccessfulimplementationofaUAVdependsoningapplicationsinthecivilianworldincludingthelevelofcontrollabilityan
8、dflyingcapabilities.monitoringoftrafficconditions,recognitionandExhibitingopen-loopunstablenonlineardynamics,thesurveillanceofvehicles,aerialphotographyforrealquadrotorposessignificantchallengestopresent-dayestateevaluations,andsear