ID	原文	译文
7964	其次,根据线性加权或理想点法将原问题转化为不确定单目标规划问题,再利用期望-方差准则将不确定单目标规划问题转化为确定的单目标规划问题;	Secondly, according to the linear weighted or ideal point method to the original problem is transformed into uncertain order goal programming problem, using the expectation and variance criterion uncertain order goal programming problem can be converted to determine the single objective programming problem;
7965	再次,通过相关理论推导证明了在该准则下转化后的问题求得的最优解是原不确定问题的帕累托有效解;	Again, through the related theoretical deduction proves that under the guidelines into the problem of the optimal solution is the original uncertain problem of pareto efficient solution;
7966	最后,设计了决策变量分别为连续型和离散型的数值算例对该方法的有效性加以说明,考虑算例的复杂度,分别采用遗传-粒子群算法和二进制狼群算法进行了求解。	Finally, design the decision variables were continuous and discrete numerical example of the effectiveness of the method, considering the complexity of the calculation example, respectively the genetic - particle swarm optimization (pso) algorithm and the binary wolves algorithm was carried out.
7967	围绕无人直升机实际飞行中的不确定性问题,将扩张状态观测器(extended state observer,ESO)与自适应反步法相结合设计控制器来实现无人直升机轨迹的鲁棒跟踪控制。	Around the unmanned helicopter the uncertainty problems in actual flight, the extended state observer (extended state observer, ESO) combined with adaptive inverse gait design controller to realize unmanned helicopter tracks of robust tracking control.
7968	首先,建立了无人直升机的数学模型,建模过程中考虑未建模动态、模型简化误差、外界大气扰动以及燃油消耗导致的惯性参数摄动等多种不确定性来源。	First, established the mathematical model of unmanned helicopter, consider the unmodeled dynamics in the process of modeling, model simplification error, outside atmospheric disturbances and fuel consumption caused by the inertia parameter perturbation, and other sources of uncertainty.
7969	同时,将主旋翼一阶挥舞动态耦合进无人直升机6-DOF刚体动力学方程,建立了简洁且又反映无人直升机旋翼挥舞这一重要特征的等效模型。	At the same time, the main rotor first-order wave dynamic coupling into unmanned helicopter 6 - DOF rigid body dynamics equation, set up a concise and reflect the characteristics of the unmanned helicopter rotor with this important equivalent model.
7970	然后,基于ESO和自适应反步法设计了位置控制器、姿态控制器以及力矩控制器,其中利用自适应策略对无人直升机质量及惯性矩阵等慢变摄动参数进行估计,利用ESO对未建模动态及外界阵风等高频扰动进行观测,并通过前馈补偿实现对系统不确定性的综合抑制。	Then, based on ESO and adaptive inverse footwork position controller is designed, posture controller and torque controller, using the adaptive strategy of quality of unmanned helicopter and inertia matrix of slowly varying perturbation parameter estimate, using ESO to unmodeled dynamics and external wind disturbance, such as high frequency and through the feedforward compensation to realize comprehensive inhibition of system uncertainties.
7971	最后,通过数值仿真验证了方法的可行性和有效性。	Finally, the feasibility and effectiveness of the method is validated by numerical simulation.
7972	仿真结果表明,该方法比纯自适应反步法具有更高的不确性抑制效率和控制精度,能够实现无人直升机在多种不同类型扰动同时作用下轨迹的鲁棒跟踪控制。	Simulation results show that this method has higher than pure adaptive inverse footwork uncertain inhibition efficiency and control accuracy, can realize unmanned helicopter in a variety of different types of disturbance trajectory under the action of robust tracking control at the same time.
7973	针对无动力滑翔高超声速飞行器的轨迹预测问题,提出了分解集成轨迹预测模型。	For unpowered glider hypersonic aircraft track prediction problem, decomposition integrated track prediction model is put forward.