基于速度线性化的变体飞行器鲁棒LPV控制

针对大包线下变体飞行器在翼型快速变化过程中的姿态控制问题，提出了一种基于速度线性化的鲁棒线性变参数(linear parameter varying, LPV)控制方法。所提方法将状态量的微分增广至状态方程，得到系统任意状态下的线性化模型，解除了传统小扰动线性化方法要求系统处于平衡点邻域的限制。建立了具有凸多胞形式的变体飞行器LPV模型，给出了参数依赖鲁棒H∞状态反馈控制器存在的充分条件，依据顶点控制器和变参数进行凸插值得到鲁棒LPV控制器。仿真结果表明,设计的控制器在飞行器快速变形和参数大范围快速变化的情况下仍具有良好的控制性能和鲁棒性。

Robust LPV control for morphing vehicles via velocity based linearization

The attitude control problem of morphing vehicles with alterable wings during fast morphing process is researched. A new robust linear parameter varying (LPV) controller using velocitybased linearization is presented to ensure flight stability and performance within full envelope. The velocity based linearization associates a linear system with every operating point of a nonlinear system by augmented state vector. This approach relaxes the slow variation restriction of the traditional method which is only fitted to equilibrium opera ting points. The polytopic LPV model is established for the morphing vehicle. A sufficient condition is proposed to find the parameter dependent robust H∞ state feedback controller. The LPV controller can be obtained by interpolation using variable parameters and vertex controllers. The simulation results show that the proposed approach can guarantee good robustness and control performance of the morphing vehicles during the fast reshaping process within full flight envelope.