倾转旋翼机切换鲁棒控制器初始化研究

为提升跟踪控制下的线性切换系统瞬态性能,采用控制器初始化方法,通过闭环切换系统输出性能指标的最小化,获得切换控制器最优初始化映射,给出了简化最优初始映射的求解方法. 采用多Lyapunov函数的方法,证明了闭环切换系统的输入状态有界性,给出了初始化切换系统渐近稳定条件. 依据倾转旋翼机纵向运动模型以及所选取的被控对象平衡状态点,采用鲁棒控制器设计方法设计了相应控制器,并对跟踪控制下的切换控制器初始化控制效果进行了仿真验证. 

Robust Controller Initialization for Switching Flight Control of Tiltrotor

For the transient performance improvement of linear switched system in tracking control, the method of initializing the switching controller state was used and a simple way to achieve the controller reset map was proposed by minimizing the performance index of the closed-loop outputs. The input-to-state stability of the closed-loop switched system was proved by using multi-Lyapunov functions, and the asymptotical stability condition of the switched system including the initialized controller state was given. Taking the tiltrotor longitudinal model as an example, choosing some nominal state equilibrium points, several robust controllers were designed for each subsystem, and the control system performance by controller states optimal initialized and zero-initialized was compared. The result shows that the transient performance of the switched system is improved by optimal initialized controller states at the switching time.