小型无人直升机非脆弱鲁棒H_∞控制器设计方法研究  

Robust non-fragile H_∞ controller design method for small-scale unmanned helicopter

作　　者：夏慧[1] 陈庆伟[1] 

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《南京理工大学学报》2015年第3期272-279,共8页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(61074023)

摘　　要：针对小型无人直升机存在时滞、不确定性及非线性动态问题,提出一种针对小型无人直升机模型具有非线性和时滞的H∞非脆弱鲁棒控制器设计方法。首先将直升机系统描述为具有参数扰动、时滞和非线性项的1个状态方程,然后基于李雅普诺夫方程给出了H∞非脆弱鲁棒控制器存在的充分条件。仿真结果表明该方法设计的控制器具有良好的鲁棒性和非脆弱性。Considering the delay,uncertainty and nonlinear dynamics of small-scale unmanned helicopters,a robust non-fragile H∞controller design method for a small-scale unmanned helicopter model is proposed with nonlinearity and time delay. Firstly,the helicopter system is described as a state equation with parameter perturbation,time delay and nonlinear term. Then,sufficient condition for the existence of the H∞non-fragile robust controller is given based on Lyapunov function. Simulation results validate the robustness and non-fragility of the proposed method.

关 键 词：小型无人直升机 非脆弱鲁棒 H∞控制 参数扰动 时滞 非线性项 状态方程 李雅普诺夫方程 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]