多螺旋桨组合浮空器LPV鲁棒变增益H_∞控制  

Robust Variable Gain H_∞ Control for Multi-Propeller Aerostat Based on LPV

作　　者：张昊[1] 陈丽[1] 

机构地区：[1]上海交通大学航空航天学院,上海200240

出　　处：《计算机仿真》2014年第5期72-77,共6页Computer Simulation

基　　金：国家自然科学基金(61175074;11272205)

摘　　要：以无舵面多螺旋桨组合浮空器为研究对象,建立了浮空器的非线性动力学模型,采用雅克比线性化的方法获得了浮空器纵向运动的线性变参数(LPV)模型。通过LPV的多胞模型转换,得到浮空器LPV多胞系统,然后采用求解线性矩阵不等式(LMI)的方法求得满足各个顶点稳定性要求的状态反馈控制器,再利用多面体顶点特性得到了满足整个工作空间的鲁棒变增益H∞控制器,并针对非线性模型进行前飞速度跟踪,仿真结果证明上述设计方法的有效性。Afin-less aerostat with multi-propeller was proposed in this paper, the nonlinear dynamic model was established and the longitudinal model was transformed into a LPV form by Jacobian linearization method. A finite number of LTI polytopic vertex system was obtained through the transformation, then the state-feedback controller satisfying H∞ performance was designed in each vertex using linear matrix inequalities（LMIs） approach,. Finally, a robust variable gain H∞ controller was synthesized via convex decomposition techniques. The velocity tracking based on nonlinear model was carried out with the designed controller, simulation results illustrate the validity of the designed controller.

关 键 词：多螺旋桨组合浮空器 矢量推力 线性变参数 变增益 

分 类 号：V411.8[航空宇航科学与技术—航空宇航推进理论与工程]