自适应鲁棒H2控制及其在小型无人直升机航向控制中的应用

Adaptive robust H2 control for the yaw control of small-scale helicopter

提出了一个新的鲁棒控制方法并将其应用到小型无人直升机的航向控制中。给出了直升机的非线性航向动力学模型并进行简化,然后线性化为具有仿射不确定性的线性模型。针对这个线性模型,基于线性矩阵不等式方法提出了具有自适应机制的鲁棒H2反馈控制器。这种设计方法可以降低固定增益控制器所固有的保守性,提高控制效果。数字仿真验证了设计方法的可行性。

This paper presents a robust controller design approach to the yaw control of a small-scale helicopter mounted on an experimental platform. The nonlinear yaw dynamic system was linearized into a linear system, which was modelled by an affine uncertainty model. Based on the linear matrix inequalities method, a novel robust H2 feedback controller with adaptive mechanisms was proposed for the linear system with guaranteed control performance. The design approach reduced conservatism inherent in robust control with a fixed gain controller and improved performances in time-response. Numerical simulations illustrated the theoretical developments.