模型直升机航向自适应保性能控制

提出了一种新的模型直升机航向控制算法。针对具有模型不确定性的直升机航向线性模型,提出了一种具有自适应机制的最优保性能控制器。该控制策略通过引入自适应机制降低固定增益控制器所固有的保守性,并且控制器的反馈增益应用线性矩阵不等式(LMIs)方法解得。理论分析和数字仿真表明所设计的控制器具有良好的鲁棒稳定性能。

A new adaptive algorithm for the yaw control of a small-scale helicopter was proposed. The nonlinear yaw dynamics is linearized into an affine uncertainty model. A novel adaptive guaranteed cost control(AGCC ) isproposed to reduce the conservatism of normal fixed-gain control while improving the tracking performance. The gain of the proposed AGCC can be obtained by solving a series of linear matrix inequalities (LMIs). The stability of the proposed AGCC is proved and numerical simulations illustrate its performance.