无人飞艇的鲁棒航向控制系统设计

将线性矩阵不等式(LMI)方法应用于静不稳定飞艇的鲁棒航向控制系统设计中,该飞艇模型具有参数不确定性。首先,给出了飞艇的横侧向运动模型。并且,采用了多面体集合的形式来描述对象的不确定性。然后采用LMI方法,将飞艇航向控制系统的设计简化为一个基于多面体系统的凸优化问题。由于该方法存在着一些设计裕度, 因此可以利用这种裕度来实现多目标控制。根据该方法设计出的闭环控制系统由内环的增稳系统和外环的PI控制器组成。最后,提供并分析了飞艇航向控制系统的仿真结果。

Robust Directional Control of an Unmanned Airship

The linear matrix inequality (LMI) technique is applied to design the robust directional control system for an unstable airship with respect to parameter uncertainties. The model of the airship lateral motion is presented firstly. In order to describe the plant uncertainties, a polytopic set is then employed. By using the LMI approach, the directional controller design is reduced to a convex optimization problem based on the polytopic system. Since there are some degrees of freedom when solving the LMI, it is available to use this kind of freedom to achieve multi-objective control within this framework. The resultant closed-loop control system includes a stability augmentation system (SAS) in the inner loop and a PI controller in the outer loop. Finally, simulation results are provided and analyzed.