摘要
为保证无人机在飞行过程中同时具有稳定鲁棒性和性能鲁棒性,必须采用H2/H∞混合控制方案。基于对策论的思想,把H2/H∞混合控制问题抽象为两个对局者信息不完全情况下的非零和博弈模型,利用纳什最大最小谈判解原理设计出求解H2/H∞混合控制的一般算法,得到H2/H∞非零和博弈模型的纳什均衡点。以某小型无人机纵向运动模型为研究对象,仿真结果表明通过纳什均衡点设计出的H2/H∞状态反馈控制器能够使系统在保持鲁棒稳定性的前提下获得最优化的动态性能指标,证明了这种思路的正确性和算法的有效性。
The mixed H2/H∞ control design is necessary for a mini-UAV to ensure its stability robustness and performance robnstness during flight. Based on game theory, the problem is reformulated as a nonzero sum game with the H2 and H∞ objectives as opposing players in this paper. An algorithm is derived based on the Nash game theory to obtain the Nash equilibrium point. Taking the longitudinal movement model of a certain type of UAV as the objective for study, the simulation results showed that the mixed H2/H∞ control based on the Nash equilibrium point may lead to trade-off between H2 and H∞ objectives, which can result in the desired closed-loop noise rejection and stability robnstness. The simulation also demonstrated the effectiveness of the algorithm and the optimality of the proposed method.
出处
《电光与控制》
北大核心
2008年第6期30-32,87,共4页
Electronics Optics & Control
基金
航空基金(2005D53019)
