多螺旋桨浮空器的抗饱和控制器设计

Anti-Windup Controller Design for a Multi-Propeller Aerostat

针对执行机构受不对称约束的多螺旋桨浮空器,采用直接法和间接法设计了抗饱和控制器,通过线性变换将不对称约束转换为对称约束,利用广义扇形条件处理饱和非线性,采用2次Lyapunov方程分析饱和受限闭环系统的L2性能,给出了基于线性矩阵不等式(LMI)的综合条件,并将抗饱和控制器设计转化为LMI的凸优化求解问题,采用现有的YALMIP工具箱进行求解,分别给出采用直接法和间接法设计的抗饱和稳定控制器的仿真结果,以验证2种控制器设计方法的有效性.

Two controller design methods,direct method and indirect method,are used to design antiwindup controller for the multi-propeller aerostat with asymmetric actuator constraints.A linear transformation is applied to transfer the asymmetric constraint into a symmetric one.As a result,the generalized sector condition is used to deal with the saturation nonlinearity.By using aquadratic Lyapunov function,linear matrix inequality（LMI）based synthesis condition is presented to address the problem of L2 performance analysis of the saturation constraint closed-loop system.The indirect method and the direct method are applied to design controller.The solution of the controller is transformed to a convex optimization expressed in a LMI form and solved by YALMIP toolbox.Finally,simulation results of the direct method and the indirect method show their effectiveness.