基于遗传算法的无人机模糊-积分控制器设计

针对某小型固定翼无人机纵向姿态控制和轨迹跟踪的要求设计了一种模糊-积分混合控制器. 为避免控制器参数调试的复杂性，提高控制性能，利用遗传算法对模糊控制的隶属度函数进行了优化设计. 在优化设计阶段，确定了设计变量和约束条件，并给出了比例因子整定原则. 仿真结果表明，基于遗传算法的模糊-积分控制器与传统PID控制器相比具有更短的响应时间，鲁棒性强，并且解决了单一模糊控制器稳态响应精度低、响应曲线颤振的问题. 

Fuzzy-Integration Controller Design of UAV Based on Genetic Algorithm

A fuzzy-integration controller of a small fixed-wing unmanned aerial vehicle (UAV) is proposed according to requirements of longitudinal attitude control and trajectory track. For avoiding complexity of the controller parameters adjustment and improving control performances, the genetic algorithm is used to optimize the membership functions of fuzzy control. The design variables and constrains are defined and the tuning principle of proportional factor is presented during the optimization design phase. Simulation results show that the fuzzy-integration controller has a quicker response and better robustness than traditional PID controller and can solve the problems of low response precision and response curve flutter for single fuzzy controller.