超空泡航行体LPV鲁棒变增益控制

Robust variable gain control for supercavitating vehicle based on LPV

针对超空泡航行体动力学模型存在强非线性及耦合等特点,提出一种基于松弛变量的线性参数变化(LPV)系统鲁棒变增益控制器设计方法.通过对系统中非线性滑行力进行分析变换,将非线性系统转换为含有变参数的线性参变系统,由调度策略得到其多胞形描述形式.为降低系统保守性,在多胞形各顶点设计控制器时引入松弛变量,实现系统矩阵与李雅普诺夫函数解耦,将各顶点控制器进行插值综合后得到依赖参数调节的系统全局控制器.仿真结果表明:所设计的控制器能够使系统快速准确地跟踪给定指令,同时对外界干扰具有一定的鲁棒性.

Aiming at strong nonlinearity and coupling of the supercavitating vehicle model, a new ro- bust variable gain controller design method of polytopic linear parameter varying （LPV） system was proposed, which is based on slack variable. Through analysis and transformation of the nonlinear pla- ning force, the original nonlinear system can be translated into linear syetem which contains variable parameter. With schedling strategy applied, the polytopic description of the LPV system can be reached. To reduce conservatism, a slack matrix is inducted into the controller design of each polytop- ic point, through which system matrix and the Lyaponov function can be decoupled. The global con- troller with gain adjusted on line can be achieved through the interpolation and synthesis of controller on each polytopic point. Simulation results show that the global controller can guarantee the tracking performance of the close-loop system, and achieve robustness againest interference outside.