一类Quanser直升机的鲁棒姿态调节器设计

Robust attitude regulator design for a class of Quanser helicopters

直升机系统的姿态调节是直升机控制中很重要的一类问题。针对直升机模型和外部系统模型同时存在不确定性的一般情况,研究一类Quanser直升机的姿态调节器设计问题。基于动态变结构控制理论,提出一种新的鲁棒姿态调节器设计方法。利用Lyapunov方法证明直升机闭环姿态控制系统的鲁棒稳定性和姿态调节误差的渐近收敛性。该方法能够克服现有结果要求外部系统模型精确已知的局限,所设计的动态滑模调节器能够抑制常规变结构控制器所产生的抖振现象。多组仿真结果验证了该方法的有效性。

Attitude regulation in helicopters is one of the most important problems in helicopter flight control.This paper considers the general case where both the helicopter system and the external system involve unknown uncertainties.Dynamic variable structure control（DVSC） theory was used to design a robust attitude regulator.The robust stability and asymptotical convergence of the attitude regulation error of the closed-loop system are proven using the Lyapunov method.This method reduces the limitation of existing methods that require the exosystem to be known exactly and the designed controller eliminates the chattering in general sliding mode control.Simulations demonstrate the effectiveness of this approach.