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模糊PD与PI控制切换的航线跟踪算法

DOI: 10.3969/j.issn.1006-7043.201105083

Keywords: 航线跟踪, 模糊切换, PID控制, 工作域, 稳定性

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Abstract:

为了改善复杂航迹跟踪过程动态及稳态控制性能指标, 采用舵角反馈将整个过程分化为瞬态工作域和稳态工作域, 分别采用模糊PD与PI控制器满足各工作域内的控制指标, 全局控制器通过各局部控制器的模糊合成得到. 根据劳斯?埠斩?维茨稳定性判据证明了闭环系统稳定条件, 数值仿真对比实验表明所提出算法能够有效缩短过渡过程时间,同时保证了稳态精度.

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