无人机非线性非仿射飞控系统的自适应模糊H_∞输出反馈控制及其应用  

Adaptive Fuzzy H_∞ Output Feedback Control and Its Application in Non-affine Nonlinear Flight Control System of UAV

作　　者：常勇[1,2] 卢广山[1] 姜长生[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]洛阳电光设备研究所,洛阳471009

出　　处：《南京航空航天大学学报》2013年第1期99-103,共5页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：国家自然科学基金(60716028)资助项目

摘　　要：研究了非仿射非线性系统的模糊自适应H∞输出反馈跟踪。在非仿射非线性模型不确定或未知的情况下,首先将非仿射系统展开为仿射系统的形式,使用模糊自适应控制器对系统进行控制,然后基于Lyapunov稳定性定理得出自适应律,并通过解一个代数Riccati方程实现了H∞跟踪性能。在状态不可测情况下,引入高增益观测器估计系统状态并设计了输出反馈控制器,实现了系统的输出反馈控制性能。最后,通过对无人机飞行控制的仿真验证了算法的有效性。A fuzzy adaptive H∞ output feedback controller for non-affine nonlinear systems is studied. Considering the uncertainties and un-modeled dynamics, firstly, the non-affine system is expanded to the form of an affine system, and a fuzzy logic adaptive controller is employed to control the system. Then, adaptive laws are designed based on Lyapunov stability theorem. Secondly, H∞ tracking performance is achieved through solving an algebra Riccati equation. In unobservable cases of systems states, a high gain observer is employed to obtain the estimation of states, and an output feedback controller is designed to achieve the performance of output feedback control. Finally, a simulation example of flight control of unmanned aerial vehicle （UAV） is given to illustrate the effectiveness of the proposed method.

关 键 词：自适应模糊 非仿射非线性系统 H∞ 输出反馈 高增益观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]