VTOL直升机的鲁棒非脆弱H_∞控制

Robust Non-fragile H_∞ Control for VTOL Helicopter

针对含有飞行时滞的垂直起飞着陆(VTOL)直升机系统,基于Lyapunov稳定性理论和线性矩阵不等式(LMI)方法,设计了考虑加性控制器增益摄动的时滞相关鲁棒非脆弱H∞控制器。利用描述系统变换,得到了状态反馈鲁棒非脆弱H∞控制器存在的充分条件。在无控制增益摄动的情形下,该控制器能够允许更大的飞行时滞。引入凸优化算法,求解使闭环系统渐近稳定且干扰抑制水平最小的最优控制器参数。仿真结果表明所设计的控制器具有良好鲁棒性和非脆弱性。

In consideration of additive controller gain perturbations, a delay-dependent robust non-fragile H∞ controller for a vertical take-off and landing （VTOL） helicopter system with flight time-delays was designed based on Lyapunov stability theory and formulated in the form of linear matrix inequalities （LMIs）. A descriptor system transformation was taken to derive a sufficient condition for the existence of a state feedback robust non-fragile H∞ controller. In the case of no control gain perturbations, this controller was able to ensure a larger flight time-delay. The convex optimization algorithm was introduced to obtain the minimal disturbance attenuation level and parameters of optimal H∞ controller which stabilized the closedloop system asymptotically. Simulation results show that the designed controller has good robust and non-fragile performance.