H_∞控制与逆系统在无人机直接侧力控制中的应用  

Application of H_∞ Control and Inverse Dynamic Systemin Direct Side Force Control of UAV

作　　者：陈欣[1] 潘常春[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《南京航空航天大学学报》2006年第1期33-36,共4页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：某国防重点型号资助项目

摘　　要：无人机直接侧力控制的关键是实现无人机运动参数的解耦。逆系统方法是一种很好的解耦方法,但其对模型的要求比较高。为了解决这一问题,本文设计一种H∞控制与逆系统的集成控制结构,对系统的输出解耦控制和鲁棒性分别进行分析,解决了传统的控制结构框架下系统控制精度和鲁棒性不能兼容的矛盾。最后,通过对某型无人机的直接侧力控制仿真验证了这种新型控制器的有效性。The inverse dynamic technology is effective to design the output decoupling system, but requires the high precise UAV model. A control structure integrating H∞ control with the inverse dynamic system is designed for developing the robust control law. The output and control signals are calculated using inverse dynamic control law by the given standard model. The performance and the robustness of the controller are analyzed, the conflict between the performance and the robustness in the traditional feedback framework is solved. Finally, a simulation for the direct side force control of UAV is made with an example. Results prove that the new controller is efficient.

关 键 词：逆系统控制 H∞控制 飞行控制 直接侧力控制 鲁棒控制 

分 类 号：V249.121[航空宇航科学与技术—飞行器设计]