モデル予測制御を用いた突風軽減制御： 事前乱気流情報および機体運動状態量の観測誤差に対するロバスト性

摘要

This paper addresses the design problem of flight controllers for suppressing aircraft motions due to turbulences, i.e. design problem of Gust Alleviation (GA) flight controllers. As Light Detection And Ranging (LIDAR) system which can detect even Clear Air Turbulences (CAT) has recently been developed, flight controllers which exploit the prior turbulence data that are obtained using LIDAR system have been desired. In this note, we extend our previously proposed method to the even realistic situations in which there exist plant uncertainties and the measurement errors in current state variables for aircraft motions as well as in the prior turbulence data. We successfully propose a design method of GA flight controllers for our problem using Model Predictive Control (MPC). Numerical simulation results which demonstrate the applicability of our proposed method for GA feasibility study are included.%乱気流による事故を防止する有効な方法の一つであるrn突風軽減制御の制御器設計問題に対して，モデル予測制御rn（Model Predictive Control；MPC）を用いた設計法の検rn討を行った．システムの不確かさを制御入力端における不rn確定な無駄時間として表現したシステムにMPCを適用しrnた従来手法を拡張し，事前乱気流情報および機体運動状態rn量の観測値に観測誤差が存在する場合にも適用可能な定式rn化を行った．