欠驱动四旋翼飞行器反演模糊自适应控制.pdfVIP

锛掞紣锛戯紩骞达紪鏈 瑗 鍖 宸 涓 澶 瀛 瀛 鎶 锛綍锝庯絽 锛掞紣锛戯紩 绗紦锛撳嵎绗紦鏈 锛綇锝曪綊锝庯絹锝 锝忥絾 锛綇锝掞綌锝堬綏锝咃綋锝旓絽锝掞綆 锛帮綇锝岋綑锝旓絽锝冿綀锝庯綁锝冿絹锝 锛碉綆锝夛綎锝咃綊锝擄綁锝旓綑 锛讹綇锝岋紟锛擄紦 锛綇锛庯紦 娆犻┍鍔ㄥ洓鏃嬬考椋炶鍣ㄥ弽婕旀ā绯婅嚜閫傚簲鎺у埗 锛 锛 锛 锛 鏉ㄧ珛鏈 锛岀珷鍗浗 锛岄粍寰楀垰 锛岃溅鍐 忙 锛戯紟瑗垮寳宸ヤ笟澶у 鑷姩鍖栧闄紝闄曡タ 瑗垮畨銆€ 锛楋紤锛愶紣锛楋紥 枚 莽 梅 猫锛掞紟椋炶鍣ㄦ帶鍒朵竴浣撳寲鎶€鏈噸鐐瑰疄楠屽 涓埅宸ヤ笟鑷帶鎵€锛岄檿瑗 瑗垮畨銆€ 锛楋紤锛愶紣锛栵紩酶 鎽樸€€ 瑕侊細閽堝娆犻┍鍔ㄥ洓鏃嬬考椋炶鍣ㄧ殑缁撴瀯鐗规€э紝鎻愬嚭涓€绉嶈嚜閫傚簲妯＄硦鍙嶆紨娆犻┍鍔ㄦ帶鍒剁畻娉曪紝璇ョ畻娉曞彲 浠ュ厠鏈嶄紶缁熷弽婕旀帶鍒朵腑瀛樺湪鐨勯棶棰橈紝濡傛瑺椹卞姩鎺у埗寰嬭繃浜庡鏉傦紝鎶楀共鎵拌兘鍔涘急鍙婄郴缁熷缓妯¤宸璺熻釜 鎬ц兘褰卞搷杈冨ぇ绛夊急鐐癸紝璇ョ畻娉曞埄鐢ㄨ嚜閫傚簲妯＄硦绯荤粺閫艰繎绯荤粺涓殑闈炵嚎鎬у嚱鏁板強鎵板姩椤癸紝骞跺埄鐢ㄦā绯婄郴 缁熸潵鏋勯€犵郴缁熺殑铏氭嫙鎺у埗閲忥紝浠庤€屽疄鐜板娆犻┍鍔ㄥ洓鏃嬬考椋炶鍣ㄧ殑楂樼簿搴︽帶鍒讹紝骞朵互娆犻┍鍔ㄥ洓鏃嬬考椋炶 鍣ㄧ殑鑷敱搴︼綐 涓轰緥锛岃缁嗚杩颁簡鑷€傚簲妯＄硦绯荤粺鐨勮璁¤繃绋嬶紝骞跺绠楁硶鐨勬敹鏁涙€у仛浜嗗垎鏋愶紝浠跨湡缁撴灉 琛ㄦ槑锛岃绠楁硶鍏锋湁寰堝己鐨勬姉骞叉壈鎬э紝骞朵笖杈惧埌浜嗙悊鎯崇殑鎺у埗绮惧害銆 鍏炽€€ 閿€€ 璇嶏細鎵ц鍣紱鑷€傚簲鎺у埗绯荤粺锛涚畻娉曪紱椋炶鍣紱瑙掗€熷害锛涘弽姝ワ紱璁＄畻鏈轰豢鐪燂紱鎺у埗鍣ㄨ璁★紱璇樊锛 妯＄硦鎺у埗锛涘共鎵版姂鍒讹紱鏉庨泤鏅澶柟绋嬶紱鏁板妯″瀷锛涢瞾妫掓€э紙鎺у埗绯荤粺锛夛紱绀烘剰鍥撅紱绋冲畾 鎬э紱鏃犱汉鏈猴紱鑷€傚簲妯＄硦绯荤粺锛涙姉骞叉壈锛涘缓妯¤宸紱娆犻┍鍔ㄩ琛屽櫒 涓浘鍒嗙被鍙凤細锛达及锛掞紬锛撱€€ 銆€ 銆€ 鏂囩尞鏍囧織鐮侊細锛°€€ 銆€ 銆€ 鏂囩珷缂栧彿锛氾紤锛愶紣锛愨亙锛掞紬锛曪紭锛堬紥锛愶紤锛曪級锛愶紦鈦冿紣锛旓紮锛曗亙锛愶紩 銆€ 銆€ 鍥涙棆缈兼棤浜洪琛屽櫒灞炰簬涓€绉嶆瑺椹卞姩鎺у埗绯荤粺锛 妯＄硦绯荤粺閫艰繎绯荤粺闈炵嚎鎬у嚱鏁板強鎵板姩椤癸紝鎵板姩椤瑰寘 鐢变簬鍏剁粨鏋勭壒鎬э紝闇€瑕佽繘琛屽疄鏃舵帶鍒舵墠鑳戒繚璇侀琛 鎷郴缁熷缓妯¤宸強澶栫晫骞叉壈銆 骞跺埄鐢ㄦā绯婄郴缁熸瀯閫 锛伙紤锛 鍣ㄧ殑姝ｅ父椋炶 銆 鏂囩尞锛伙紥鈦冿紪锛藉垎鍒埄鐢及锛╋激銆侊绩 銆佹ā 绯荤粺鐨勮櫄鎷熸帶鍒堕噺锛屽疄鐜板娆犻┍鍔ㄥ洓鏃嬬考椋炶鍣ㄧ殑 鈭 绯婃帶鍒躲€侊棘锛辨帶鍒躲€佸洖璺垚鍨嬬悊璁鸿璁′簡鍥涙棆缈兼棤浜 楂樼簿搴︽帶鍒躲€ 椋炶鍣ㄧ殑鎺у埗绯荤粺锛屾枃鐚蓟锛楋冀鍒╃敤鍙嶉绾挎€у寲鐞嗚 璁捐浜嗗洓鏃嬬考椋炶鍣ㄧ殑闈炵嚎鎬ф帶鍒剁郴缁燂紝鐢变簬鍙嶉 锛戙€€ 锛憋綍锝侊絼锝掞綇锝旓綇锝 锛碉肌锛舵ā鍨 绾挎€у寲蹇呴』寤虹珛椋炶鍣ㄧ簿纭殑绯荤粺妯″瀷锛屽洜姝ょ郴缁 寤烘ā璇樊瀵规帶鍒舵晥鏋滃奖鍝嶈緝澶с€ 鏂囩尞锛伙紭锛藉埄鐢ㄥ弽姝 鐢变簬鍥涙棆缈奸琛屽櫒涓€鑸负瀵圭О缁撴瀯锛屽洜姝ゅ亣璁 鎺у埗璁捐浜嗛琛屽櫒鐨勬帶鍒剁郴缁燂紝浣嗗弽姝ユ帶鍒剁殑鎶楀共 鍧愭爣鍘熺偣鍜屾満浣撻噸蹇冮噸鍚堬紝寰楀埌椋炶鍣ㄧ殑缁撴瀯鍥惧 鎵拌兘鍔涜緝寮便€ 鏂囩尞锛伙紮锛