基于T-S模糊模型的无人机混合H2/H∞控制  

A Mixed H2/H∞ Control Method for UAV Based on T-S Fuzzy Model

作　　者：孙妙平[1] 丁楠 年晓红[1] SUN Miaoping;DING Nan;NIAN Xiaohong(School of Information Science and Engineering,Central South University,Changsha,Hunan 410075,China)

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410075

出　　处：《控制与信息技术》2018年第6期59-67,共9页CONTROL AND INFORMATION TECHNOLOGY

基　　金：国家自然科学基金项目(61403425)

摘　　要：为了实现无人机稳定跟踪期望的轨迹,文章提出一种混合H2/H∞的控制策略,其将四旋翼无人机分为高度、位置和姿态3个子系统,并通过选择合适的前件变量对3个子系统分别建立T-S模糊误差模型,然后采用区间矩阵的方法描述升力系数、阻力系数和转动惯量等不确定项。为了保证无人机在微风等外部扰动的影响下能够稳定飞行,基于线性矩阵不等式方法和极点配置理论,文章设计了D稳定约束的混合H2/H∞控制器。四旋翼无人机的仿真结果验证了该控制策略的有效性。A mixed H2/H∞ control strategy was proposed in this paper to achieve a stable tracking trajectory of the UAV(unmanned aerial vehicle).Firstly,the quadrotor UAV was divided into three subsystems:the altitude,the position and the attitude.By selecting the appropriate premise variables,three T-S fuzzy error models were established.Then the uncertain terms such as lift coefficient,drag coefficient and moments of inertia were described by interval matrix.In order to ensure the UAV can fly stably under the influence of external disturbances such as breezes,a mixed H2/H∞ controller with D stability constraints were designed based on the linear matrix inequality method and pole placement theory.Finally,simulation results of a quadrotor UAV show the effectiveness of the proposed control strategy.

关 键 词：混合H2/H∞控制 T-S模糊误差模型 D稳定约束 区间矩阵 线性矩阵不等式 无人机 

分 类 号：V249.12[航空宇航科学与技术—飞行器设计]