论文标题
自主四轮驱动器的发展
Development of Autonomous Quadcopter
论文作者
论文摘要
这项工作的主要目标是通过两个主要方面展示的。首先是设计自适应神经模糊的推理系统（ANFIS）控制器来发展四轮驱动器的态度和高度。第二个是以简单明了的方式建立四轮驱动器的线性数学模型。为了显示ANFIS方法的有效性，将训练有素的ANFIS控制器的性能与经典的比例衍生（PD）控制器和正确调整的模糊逻辑控制器进行了比较。
The main objective of this work is demonstrated through two main aspects. The first is the design of an adaptive neuro-fuzzy inference system (ANFIS) controller to develop the attitude and altitude of a quadcopter. The second is to establish the linearized mathematical model of the quadcopter in a simple and clear way. To show the effectiveness of the ANFIS approach, the performance of a well-trained ANFIS controller is compared to a classical proportional-derivative (PD) controller and a properly tuned fuzzy logic controller.
