Systematic H_∞ weighting function selection and its application to the real-time control of a vertical take-off aircraft

摘要

In this paper, the selection of H_∞ weighting functions for general practical applications is investigated. It is shown that an H_∞ weighting function for a single-input-single-output (SISO) plant can be obtained by considering a series of connections of elementary low-order plants. For a constrained control effort, an explicit weighting function expression is derived for the first time. A novel method for the selection of weighting functions in H_∞ mixed sensitivity design is proposed to control the percentage overshoot directly. An example illustrating how the transient response of a standard H_∞ design is improved by using the proposed weighting functions is provided. Finally, real-time experimental results are presented for the roll-angle control of a laboratory-scale physical model of a vertical take-off aircraft.