无人机全包线模糊鲁棒跟踪控制

Fuzzy robust tracking control within full envelope for unmanned aerial vehicle

针对无人机大包线飞行中气动特性大幅变化以及存在参数不确定性和外界干扰等特点,设计全包线模糊鲁棒跟踪控制器.通过模糊c-均值聚类建立逼近全包线动态的模糊T-S(Takagi-Sugeno)模型.基于高度和空速跟踪增广系统,根据保性能控制理论,采用广义系统的模糊Lyapunov函数方法,以线性矩阵不等式形式给出全包线模糊鲁棒跟踪控制器参数的约束条件,保证广义系统稳定.并最小化扰动抑制度来优化控制参数.该控制器既降低了控制保守性,又减小了参数求解的复杂度.仿真表明,无人机在整个飞行包线内能够精确地跟踪空速和高度参考指令,对参数不确定和外界干扰具有强鲁棒性.

The fuzzy robust tracking controller within full envelope of unmanned aerial vehicle（ UAV）was proposed for the problems of wide variation of aerodynamic characteristics,experiencing parameter uncertainty and external disturbances during the flight in large envelope. With fuzzy c-means clustering,the fuzzy T-S model approximating the dynamics of UAV within full envelope was constructed. Based on the augmented tracking system of airspeed and altitude,the constraint condition of fuzzy robust tracking controller was provided in terms of linear matrix inequalities（ LMI） according to guaranteed cost theory with descriptor system based fuzzy Lyapunov function approach,and input-states stability was ensured. The control parameters were optimized via minimizing disturbance attenuation with less conservative and reduced computation complexity.The simulation shows that high accuracy tracking of airspeed and altitude desired instructions within full envelope is realized with strong robustness to parameter uncertainties and external disturbances.