扑翼微型飞行器非线性H∞姿态控制

给出了扑翼微型飞行器姿态控制系统的数学模型,并提出了一种新颖的非线性H∞控制方法。飞行过程的复杂性使得姿态控制极具挑战性,主要困难是系统表现为非线性、时变参数以及各种干扰。为此提出了一种全局非线性H∞控制策略,系统控制综合是基于李亚普诺夫理论而非求解HJI偏微分方程。该方法克服了时变参数及未知干扰对系统的影响。证明了控制器的全局渐进稳定性并将其用于扑翼微型飞行器非线性H∞姿态控制系统的仿真,仿真结果验证了所提方法的有效性。

Nonlinear H∞ Attitude Control of Flapping Wing Micro Aerial Vehicle

Mathematical model of the attitude control system for Flapping Wing Micro Aerial Vehicle (FWMAV) was given, and a novel nonlinear H∞ control scheme was proposed. The attitude control is very challenging owing to the complex flight process, and the heavy difficulty is that the system embodies nonlinearity, time varying parameters, and all kinds of disturbances. To control the attitude movement effectively, a global nonlinear H∞ control strategy was contrived that the controller synthesis was based on Lyapunov function instead of solving the Hamilton-Jacobi-Isaacs (HJI) partial differential equation. The method overcomes the impact of time varying parameters and unknown disturbances to the system. Theoretical result is supported by simulation of the H∞ attitude control of FWMAV, and the validity of the proposed method is verified.