Robust Guaranteed Cost Control for Yaw Control of Helicopter

针对具有时变不确定性且不确定性界为椭球的线性系统提出了一种新的具有自适应机制的鲁棒保性能控制器设计方法。首先,引入一个具有可由自适应律在线调整的可调参数的目标模型,通过该参数来保证由目标模型与被控模型所获得的误差系统渐近稳定。结合保证目标模型稳定性的设计,最终形成保证闭环系统稳定且控制器增益仿射依赖于可调参数的鲁棒保性能跟踪控制器。应用于安装在试验平台上的小型直升机航向控制中,仿真试验表明了该方法的有效性。

A new design method of robust guaranteed cost controller with adaptation mechanism was proposed. A linear time-invariant system with time-varying ellipsoidal uncertainty was considered. First, an adaptation mechanism was introduced to establish a target model with adjustable parameters. The adjustable parameters were determined according to the designed adaptive laws to ensure the quadratic stability of the error system between the state trajectory of the plant and that of the target model. Consequently, a robust guaranteed cost tracking controller was proposed, whose gains affinely depended on the designed adjustable parameters, to guarantee the stability of the closed-loop systems. The application of this approach to the yaw control of a small-scale helicopter mounted on an experiment platform shows the effectiveness.

This work was supported in part by the National Science Foundation of China under Grant (60705028)