针对飞行器纵向模型的不确定性参数和随机干扰,研究了一类飞行器航迹倾角的自适应跟踪控制问题。在控制器设计过程中,将多维泰勒网(multidimensional Taylor network,MTN)的逼近特性和自适应backstepping方法相结合,利用MTN网络逼近未...针对飞行器纵向模型的不确定性参数和随机干扰,研究了一类飞行器航迹倾角的自适应跟踪控制问题。在控制器设计过程中,将多维泰勒网(multidimensional Taylor network,MTN)的逼近特性和自适应backstepping方法相结合,利用MTN网络逼近未知光滑非线性函数,提出了一种新的自适应MTN控制方法。通过Lyapunov稳定性理论证明了闭环系统的所有信号依概率有界,跟踪误差收敛到原点附近任意小的邻域。仿真结果表明,该方法能够在简化控制器设计的同时保证飞行器航迹倾角跟踪上预定轨迹。展开更多
This study is concerned with the H∞control for the full-envelope unmanned aerial vehicles(UAVs) in the presence of missing measurements and external disturbances. With the dramatic parameter variations in large fligh...This study is concerned with the H∞control for the full-envelope unmanned aerial vehicles(UAVs) in the presence of missing measurements and external disturbances. With the dramatic parameter variations in large flight envelope and the locally overlapped switching laws in flight, the system dynamics is modeled as a locally overlapped switched polytopic system to reduce designing conservatism and solving complexity. Then,considering updating lags of controller s switching signals and the weighted coefficients of the polytopic subsystems induced by missing measurements, an asynchronous H∞control method is proposed such that the system is stable and a desired disturbance attenuation level is satisfied. Furthermore, the sufficient existing conditions of the desired switched parameter-dependent H∞controller are derived in the form of linear matrix inequality(LMIs) by combining the switched parameter-dependent Lyapunov function method and average dwell time method.Finally, a numerical example based on a highly maneuverable technology(Hi MAT) vehicle is given to verify the validity of the proposed method.展开更多
文摘针对飞行器纵向模型的不确定性参数和随机干扰,研究了一类飞行器航迹倾角的自适应跟踪控制问题。在控制器设计过程中,将多维泰勒网(multidimensional Taylor network,MTN)的逼近特性和自适应backstepping方法相结合,利用MTN网络逼近未知光滑非线性函数,提出了一种新的自适应MTN控制方法。通过Lyapunov稳定性理论证明了闭环系统的所有信号依概率有界,跟踪误差收敛到原点附近任意小的邻域。仿真结果表明,该方法能够在简化控制器设计的同时保证飞行器航迹倾角跟踪上预定轨迹。
基金supported by National Natural Science Foundation of China(61273083,61074027)
文摘This study is concerned with the H∞control for the full-envelope unmanned aerial vehicles(UAVs) in the presence of missing measurements and external disturbances. With the dramatic parameter variations in large flight envelope and the locally overlapped switching laws in flight, the system dynamics is modeled as a locally overlapped switched polytopic system to reduce designing conservatism and solving complexity. Then,considering updating lags of controller s switching signals and the weighted coefficients of the polytopic subsystems induced by missing measurements, an asynchronous H∞control method is proposed such that the system is stable and a desired disturbance attenuation level is satisfied. Furthermore, the sufficient existing conditions of the desired switched parameter-dependent H∞controller are derived in the form of linear matrix inequality(LMIs) by combining the switched parameter-dependent Lyapunov function method and average dwell time method.Finally, a numerical example based on a highly maneuverable technology(Hi MAT) vehicle is given to verify the validity of the proposed method.
