自适应鲁棒保性能控制器设计

Design of an Adaptive,Robust,Guaranteed Performance Controller

针对时变不确定性的旋翼飞行机器人航向线性模型,分析了移动机器人系统控制器设计方法中的问题,提出了一种自适应鲁棒控制器的设计方法。该方法将自适应机制引入到鲁棒跟踪保证成本控制器中,将状态反馈自适应鲁棒控制器的设计问题转化为一个等价的线性矩阵不等式的可解问题,使鲁棒跟踪控制器的增益能够实现在线调节,保证闭环系统的稳定性。并且,将该方法与固定增益鲁棒控制器在实验仿真中进行了对比实验,结果表明该方法在飞行机器人航向控制中具有更好的性能。

Based on the linear model of yaw control of rotor-craft flying robots with timevarying uncertainties,this paper discussed the problems in the design method of the controller for mobile robot systems and proposed the design method of an adaptive robust controller.In this method,the adaptive mechanism was introduced into the robust controller design method,and the design problem of the state feedback adaptive robust controller was transformed into an equivalent solvable problem of linear matrix inequalities so that the gain of the robust controller can be adjusted online and the stability of the closed-loop system can be guaranteed.Moreover,the method was compared with the technique of fixed-gain robust controller in the experimental simulation,which showed that the method performed better in the yaw control of flying robots.