飞行器不确定系统鲁棒D-稳定控制分配策略

为降低建模误差及外部扰动对飞行器多变量不确定系统的影响，提出了一种闭环系统鲁棒D-稳定的动态混合控制分配策略。飞控系统采用模块化的设计思想，利用线性矩阵不等式方法设计了基于虚拟控制指令的鲁棒D-稳定输出反馈控制律；建立了多目标混合优化控制分配模型，推导并证明了该模型的等价实现形式，用于将虚拟控制指令协调分配到各个操纵面。仿真结果表明,该策略能够综合考虑各操纵面不同的物理约束和控制效能，具有较好的鲁棒性能。

Robust D-stability control allocation of uncertain vehicle systems

To decrease the effect of modelling error and unknown disturbance in an uncertain vehicle system, a robust D-stability control allocation scheme is presented. As the flight control system modularized, the robust D-stability output feedback control law based on virtual control is designed using a linear matrix inequality (LMI). The mixed optimization model of multi-objective control allocation is built, which is equally converted to a simple quadratic model that allocates the virtual control to effectors optimally. Simulation shows that the proposed method can consider the effectors’ efficiency and physical constraint effectively and track the instrument with a pleasing robust performance.