以PID为核心的无人机横侧向控制系统易受到参数摄动和外部扰动的影响,鲁棒性较差；针对这点不足.将H∞鲁棒控制理论与特征结构配置理论相结合设计了飞机横侧向控制器;用输出反馈的特征结构配置方法设计内环,以改善系统的动态性能,在此基础之上,利用H∞鲁棒控制理论设计外环,保证系统的稳态性能和鲁棒性；以协调转弯为例、对某无人机设计了横侧向控制器并进行了仿真,仿真结果表明,当选取状态变量β,P,r,φ,δa,δr,βe/s,φc/s,δoc,δr0对应的性能指标系数为c1=0.001,c2=0.002,c3=0.001,c4=0.002,c5=0.001,c6 =0.001,c7=0.3,c8=0.5,c9=1,c10=1时,无人机在有风干扰下仍然能够很好地跟踪输入指令,无稳态误差,调节时间短,仿真效果良好.%As PID theory being the core, UAV s lateral control system is susceptible to parameter perturbation and external disturbances, and its robustness is poor. Regarding this deficiency, a lateral controller is designed using the combination of the Robust Control Theory and the Eigenstructure Assignment Method. Then the Eigenstructure Assignment Method of output - feedback is applied to the inner loop to improve the system dynamic performance. Based on this, and to guarantee the steady performance and robustness of the system, the Robust Control Theory is used to design the outer loop. Take coordinated turns as an example, the lateral controller of an UAV is designed and the simulation work is done. The simulation results indicate it is good that choose c1 = 0. 001, c2 =0.002, c3 = 0.001, c4 =0.002, c5 =rn0.001, c6=0.001, c7 = 0.3, c8 = 0.5, c9 = l, c10 = l for the performance index coefficient of state variablesb,p,r,e,8a,8,,,8a,8e/s,8e/s,8ao,8rorn. Under the disturbance of wind, UAV can still track input signals well with no steady state error, short setting time.
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