无人机侧向运动H_∞控制器设计及仿真

Lateral Motion H_∞ Controller' s Design and Simulation of UAV

研究了鲁棒控制中H_∞状态反馈方法在无人机侧向控制律设计中的应用;建立了无人机侧向运动的小扰动方程,根据控制目标选取了合适的广义状态变量,建立了广义被控对象,应用matlab鲁棒控制工具箱中线性矩阵不等式(LMI)的求解方法设计了系统H_∞状态反馈控制器,并进行了数字仿真验证;以无人机侧向运动中滚转控制通道的H_∞鲁棒控制器设计为例,给出设计过程及仿真结果;与PID控制器的控制效果进行比较,说明控制器能够使系统有更好的动态和稳态性能,且比PID控制器对外界噪声干扰有较好的抑制作用,现已成功应用于某型无人机。

H∞ State feedback method was studied in the application of UAV＇ s lateral controller design. The UAV＇ s little perturbation equations of lateral motion was built, the generalized state variables were selected suitable according to control objective, and the generalized plant was built , H∞ state feedback controller was designed using linear matrix inequality （LMI） method that was in Matlab toolbox, digital simulation was carried out for validating. Took the H∞ controller design of the roll channel in UAV＇ s lateral motion for example, the design process and simulation result were given. Compared with the PID controller, it concludes the H∞ controller has better dynamic and stable characters, and has better restrained effect to outside disturbance, it has been applied to the UAV of some type.