基于H_2最优控制的小型无人机飞行姿态控制器设计

Flight Attitude Controller Design for Small UAV Based on H_2 Optimal Control

随着小型无人机飞行包线的日趋扩大和所执行任务复杂性的不断提高,要求其飞行控制系统在满足各种基本控制性能指标的同时,还应对各种干扰、噪声、系统模型参数摄动具有良好的鲁棒性;为提高小型无人机飞行控制系统的鲁棒性,文中将H2最优控制理论应用于某重点实验室小型无人机的飞行姿态控制策略研究,通过选择加权矩阵来设计满足性能指标的H2最优控制器。经仿真验证,所设计的H2最优控制器不但使飞行系统具有良好的动、静态飞行品质,而且具有较好的系统鲁棒性。

With the extension of flight envelops and the improvement of the mission complexity, the flight control systems of small un manned aerial vehicles （UAV） are required not only to meet various basic control performance, hut also to have good robustness dealing with all kinds of interference, noise, and model parameter perturbation. To improve the robustness of a small UAV flight control system, we ap ply a He optimal control theory to a flight attitude control strategy of the small UAV in a key laboratory. Weighted matrices are chosen to de sign a H2 optimal controller with a satisfying control performance. The simulations show that the H2 optimal flight control system has not only a good dynamic and static flight quality but also a good robustness.