针对四旋翼姿态控制算法的优化问题, 提出了一种基于反步自适应控制与经典PID控制相结合的优化控制算法。该组合算法是将由不同控制算法设计出的控制器结合使用, 即将控制系统分为两个回路: 姿态角及高度通道为内回路, 平面通道x和y为外回路。仿真结果表明,反步自适应PID控制算法有着非常好的控制性能, 与其他控制算法相比, 在稳定性、响应、抗干扰性及精确度等方面都有较大的提高。

In this paper we propose a system with the piezoelectric actuator by the single neuron adaptive PID controller for the grating tiling. Then the design of the control system as well as the control method by considering the nonlinearity of piezoelectric actuators is discussed. At last, close loop position examinations by the capacitive displacement sensor with nanometer scale precision are performed. The experimental results indicate that the system is working effectively. The system is provided with the characters of self-learning, easy calculating and adaptability as well as of a simple structure.