超空泡航行体鲁棒H_∞绝对稳定控制

Robust H_∞ absolute stability control for a supercavitating vehicle

针对超空泡航行体(HSSV)在巡航阶段会受到强非线性滑行力,且伴随噪声干扰等问题,提出一种基于时域绝对稳定性的鲁棒H∞绝对稳定控制器的综合方法。利用backstepping方法,将原系统转化成子系统级联形式的跟踪模型,并在其基础上分析了滑行力的扇形区域条件。考虑系统中存在噪声干扰的情况,利用Lyapunov理论结合滑行力的扇形区域条件,给出了线性矩阵不等式(LMI)约束形式的鲁棒H∞绝对稳定控制器综合方法。仿真结果表明,所设计的鲁棒H∞绝对稳定控制器可以实现闭环系统的绝对稳定,同时在零初始条件下具有给定的H∞性能。

In cruise phase,high-speed supercavitating vehicles（ HSSV） face a strong nonlinear planing force and noise disturbance. To solve these problems,a synthesis method for robust H∞absolute stability controller was proposed based on absolute stability in the time domain. The original system was transformed into a cascade connection of two subsystems. Then,based on the connection,the sector bounded conditions of the planing force were analyzed. Next,in order to handle the noise disturbance,the method was included in the form of a linear matrix inequality,by applying Lyapunov theory together with the sector bounded conditions. Simulation results show that the closed-loop system can obtain absolute stability with the resulting controller,and simultaneously achieve the prescribed H∞performance under zero initial conditions.