基于Rodrigues参数的飞行器姿态鲁棒控制

A Method for Robust Control of Aircraft Attitude Using Rodrigues Parameters

利用修正的 Rodrigues参数对刚体姿态和姿态误差的构形空间进行参数化 ,在非线性 H∞控制的框架内 ,研究了飞行器姿态的鲁棒控制问题 ,设计了一个用于飞行器姿态控制的鲁棒跟踪控制器。数值仿真结果表明 ,本文所设计的控制器对飞行器结构参数的不确定性具有鲁棒性。

Attitude control is one of the important problems in the flight control of various aircrafts. It can be abstracted to the attitude control of a rigid body. First, the attitude space is parameterized by modified Rodrigues parameters. Then, we designed a robust controller for aircraft attitude control in the frame of nonlinear H ∞ control. Different from the existing methods, our method does not need to solve any nonlinear Bellman-Jacobi-Ricatti equation. Simulation results show that our controller possesses robusteness against the uncertainty of the aireraft parameters.