变体飞行器有限时间收敛LPV鲁棒控制

Robust LPV control for morphing aircraft with finite-time convergence

以一类翼展可变的飞行器模型为对象,研究了一种针对参数不确定的线性变参数(linear parameter varying,LPV)系统的滑模变结构鲁棒控制问题。首先,通过Jacobian线性化和模型张量积转化将变体过程中的非线性模型最终简化为多胞体LPV系统。然后将鲁棒滑模控制技术拓展到此LPV模型中,给出了以线性矩阵不等式(linear matrix inequality,LMI)为形式的降阶滑动模态的存在性及鲁棒稳定性定理,以此为基础所设计的参数依赖的趋近律控制器能够使具有不匹配不确定性的LPV系统在有限时间内收敛至滑模切换面。仿真结果表明,上述滑模控制器在模型存在不确定性的情况下能够保证变体过程的全局稳定性。

A sliding mode control strategy is proposed based on linear-parameter-varying（LPV）methodology for the robust control of a morphing aircraft with variable span.Using the Jacobian linearization approach as well as tensor product transformation,the polytopic LPV model of the aircraft in the wing varying process is formulated for controller synthesis.The robust sliding mode control scheme is developed using an LPV approach.The sufficient condition in form of linear matrix inequality（LMI）constrains is derived for the existence of a reduced-order sliding mode dynamics guaranteeing robust stability.Then,by the parameter-dependent Lyapunov function stability analysis,the synthesized reaching law is proved to drive the LPV system trajectories onto the predefined switching surface in a finite time against mismatched uncertainty.Simulation results in the nonlinear model demonstrate the global stability.