一种无人机极点区域约束系统输出反馈滤波设计

A Design and Simulation of Robust Filtering Control for Pole Constraints System of Unmanned Aircraft

针对参数变化引起的系统不稳定情况,研究其闭环极点处于区域约束下滤波问题,提出了基于输出反馈的滤波系统设计方法。在被控系统及反馈滤波系统同时存在不确定性的情况下,以线性矩阵不等式形式给出输出反馈滤波系统的可解性条件,使其闭环系统渐近稳定,滤波误差输出对干扰的抑制性能指标小于给定上界,并把闭环系统极点配置于复平面上指定区域。运用该方法对某型警用无人飞行器纵向运动进行仿真验证,闭环系统的极点均分布在预期界限,系统趋于稳定,达到了设计目标,表明了该方法的有效性。

For the instability of the system caused by parameter changes,this study investigates the filtering problem of closed-loop pole placement under region constraints,and a filtering system design method based on output feedback is proposed.In the presence of uncertainties in both the controlled system and the feedback filtering system,the solvability condition of the output feedback filtering system is given in the form of linear matrix inequalities.This condition ensures asymptotic stability of the closed-loop system,suppression of filtering error output with respect to changes below a given upper bound,and the proper placement of closedloop system poles in a specified region on the complex plane.This method is used to simulate and verify the longitudinal motion of a certain type of police unmanned aircraft.The distribution of closed-loop system poles is within the expected limits,indicating that the system is asymptotically stable and achieves the design objective.This demonstrates the effectiveness of the proposed method.