摘要
针对四旋翼无人飞行器的模型参数不确定性和在飞行过程中易受到外界不确定性干扰而导致飞行不稳定的问题,首先,对四旋翼无人飞行器进行了较为精确的非线性动力学建模,并进行适当地简化成为存在误差的线性动力学模型,而后,利用鲁棒控制与极点配置原理,设计了一种基于线性矩阵不等式(Linear Matrix Inequality,LMI)的H2/H∞混合鲁棒控制器。MATLAB实验仿真表明,通过与传统的较为单一的H2标准控制器和H∞标准控制器进行比较,文章提出的H2/H∞混合鲁棒控制器能够解决四旋翼无人飞行器本身模型参数不精确和干扰噪声导致控制不稳定甚至发散等问题,展示出了良好的稳定性和鲁棒性。
In view of the uncertainty of the model parameters of the quadrotor and the interference of the external uncertainty in the flight process,the flight stability is poor. Firstly,the dynamic model of the aircraft quadrotor is established more accurately,and properly simplified into a linear dynamic model with errors. Secondly,using the principle of robust control and pole configuration,a H2/H∞hybrid robust controller based on linear matrix inequality(LMI) method is designed to solve this problem. Compared with the traditional single H2 standard controller and H∞standard controller,the proposed controller can solve some problems such as instability and even divergence because of the inaccuracy model parameters and the interference(or noise),which shows good stability and robustness from MATLAB simulation results.
出处
《四川理工学院学报（自然科学版）》
CAS
2018年第1期25-33,共9页
Journal of Sichuan University of Science & Engineering(Natural Science Edition)
基金
国家自然科学基金资助项目(61640223)
四川省自然科学基金(2016JY0179)
四川省自然科学基金重点资助项目(2016JY0179)
中国科学院自动化研究所复杂系统管理与控制国家重点实验室开放基金资助项目(20160106)
人工智能四川省重点实验室开放基金资助项目(2016RZJ02)
校级研究生创新基金资助项目(y2016034)
