多螺旋桨组合浮空器LPV鲁棒变增益H肄控制

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 sat-isfying H∞ performance was designed in each vertex using linear matrix inequalities( LMIs) approach,. Finally, a ro-bust 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.