变翼展飞行器平滑切换LPV鲁棒H_∞控制

Smooth Switching LPV Robust H_∞ Control for Variable-Span Vehicle

研究了一类翼展可变飞行器平滑切换线性变参数(LPV)H_∞控制问题。选取翼展变形率为时变参数,并将时变参数取值区间划分成具有局部重叠特性的子区间,得到变体飞行器的切换LPV模型。设计平滑切换控制器,其中重叠子区间控制器由相邻子区间控制器插值得到。给出了保证切换LPV系统指数稳定且具有一定H_∞扰动抑制水平的充分条件,考虑时变参数的渐变特性,得到没有最小平均驻留时间限制的切换律,降低了设计保守性。仿真结果表明,所提方法既能保证飞行器系统在变形过程中的稳定性和鲁棒性,又能实现系统的平滑切换。

This study addressed issues related to smooth switching linear parameter varying （LPV） robust H∞ control for a class of morphing vehicles with variable-span. Choosing the rate of span variation as time-varying parameter, the switching LPV model of morphing vehicle is established by partitioning the valued interval of time-varying parameter into several subintervals with overlaps. Also, the smooth switching controller is designed, and the controllers for the overlapped subintervals are smoothly scheduled between individual controllers for neighboring subintervals. Then, a sufficient condition is presented to guarantee that the switched LPV system is exponential stability and has a certain H∞ disturbance rejection level. In order to reduce design conservatism, the switching law without constraint on minimum average dwell time is proposed by considering the time-varying parameter changes gradually. Finally, simulation result shows that the vehicle system, not on｜y has good stability and robustness, but also can switch smoothly during morphing.