直升机鲁棒保性能控制律设计

Robust Guaranteed Cost Gontrol Law Design for Helicopter

考虑直升机在飞行包线内模型参数的变化及不确定性影响,设计了鲁棒保性能控制律;根据直升机一个标称状态点构造出了参数不确定性矩阵,利用Lyapunov稳定性定理和线性矩阵不等式方法给出了控制器存在的充分条件及参数化设计方法,进行直升机三轴姿态稳定保性能控制律的设计;仿真结果表明,所设计的控制器满足三轴姿态稳定要求且具有很好的鲁棒性。

A robust guaranteed cost control law is designed considering the parameter variation and uncertainty of helicopter model in flight envelope. Parameter uncertain matrixes are constructed due to a nominal state. The sufficient condition of the existence of the controller and parameterized formula is given using Lyapunov lemma and LMI method. Simulation result verifies the robust property of controller to the stabilization of three--axis attitude.