非线性信息融合控制算法及其在多旋翼无人机中的应用

项目名称： 非线性信息融合控制算法及其在多旋翼无人机中的应用

项目编号： No.61473144

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 王志胜

作者单位： 南京航空航天大学

项目金额： 84万元

中文摘要： 信息融合控制是一种基于信息融合估计理论的最优控制算法。传统二次型最优控制算法不适合处理输入受限、状态受限、状态时滞以及非线性系统的情况。信息融合控制把对控制系统的所有要求以及各种约束全部转化为关于控制量的量测信息，通过信息融合估计的方法估计出控制量。信息融合控制使能够利用的信息更全，适应面更广。本项目在已完成的国家自然科学基金项目信息融合预见控制算法原理及实验验证研究的基础上，进一步研究非线性信息融合控制系统的基本性质及其工程应用算法。主要研究内容包括：(1) 非线性离散信息融合控制系统的收敛性、稳定性和鲁棒性分析；(2) 非线性信息融合控制系统的可控性、解耦性以及控制量信息权阵的自适应调节算法；（3）协状态信息权阵的抗奇异递推算法；（4）建设信息融合控制系统全数字仿真平台，搭建多旋翼无人机半物理飞行控制实验平台，开展基于信息融合控制的多旋翼无人机飞行控制相关试飞实验。

中文关键词： 信息融合控制；非线性最优控制；解耦控制；飞行控制；无人飞行器.

英文摘要： Information Fusion Control (IFC) is a kind of optimal control algorithm based on information fusion estimation theory. The traditional quadratic optimal control algorithms are not suitable for processing the control system with nonlinear feature, input constraints, limited state, and state time-delay. IFC algorithms translate all the requirements of control system and various constraints into the measuring information about control value, and then estimate the control quantity by information fusion estimation method. IFC algorithms can use the information more completely and have a broader adaptation.This project will further study the basic properties of the nonlinear IFC system and the specific algorithms for engineering applications based on the completed project Research for the Principle of the IFC Algorithms and Experimental Verification supported by National Natural Science Foundation of China.The main research contents include: (1) the convergence, stability and robustness analysis of the nonlinear discrete IFC system,(2) the controllability and decoupling of the nonlinear IFC system，and the adaptive adjustment algorithm for the information weight matrix of control value,(3) the recursive algorithm for information weight matrix of co-states to avoid matrix inversion, and (4) constructing digital simulation platform for IFC system, and half-physical flight control experiment platform for unmanned aerial vehicle with multi-rotor, and carrying out the experimental research for the flight test of unmanned aircraft with multi-rotor based on the IFC algotithms.

英文关键词： information fusion control;nonlinear optimal control;decoupling control;flight control;unmanned aircraft.