无人飞行器参数依赖鲁棒控制研究

Research on parameter-dependent robust controller for unmanned aircraft

研究了具有参数不确定性的无人飞行器参数依赖鲁棒控制器设计问题。采用误差四元数建立姿态运动方程,避免了欧拉角描述姿态运动存在奇异性的问题。通过引入附加的松弛矩阵使Lyapunov矩阵和系统矩阵分离,并利用平方和工具箱求解非线性矩阵不等式得到了系统的鲁棒控制器。仿真结果表明了所提出的控制器设计方法的可行性和有效性。

The problem of parameter-dependent robust controller design for unmanned aircraft with parameter uncertainties is investigated.The attitude dynamics is described by error quaternion to eliminate singularity of Euler angle description.By introducing some slack matrices,the proposed criterion exhibits a kind of separation between the system matrices and the positive definite Lyapunov matrices.The robust controller is designed through solving nonlinear matrices inequalities by using the sum of squares（SOS） toolkits in a reliable and efficient manner.Simulation results demonstrate the effectiveness and feasibility of the proposed approach.