【摘要】 以无舵面多螺旋桨组合浮空器为研究对象,建立了浮空器的非线性动力学模型,采用雅克比线性化的方法获得了浮空器纵向运动的线性变参数(LPV)模型。通过LPV的多胞模型转换,得到浮空器LPV多胞系统,然后采用求解线性矩阵不等式(LMI)的方法求得满足各个顶点稳定性要求的状态反馈控制器,再利用多面体顶点特性得到了满足整个工作空间的鲁棒变增益H∞控制器,并针对非线性模型进行前飞速度跟踪,仿真结果证明上述设计方法的有效性。更多还原

【Abstract】 Afin-less aerostat with multi-propeller was proposed in this paper,the nonlinear dynamic model was established and the longitudinal model was transformed into a LPV form by Jacobian linearization method. A finite number of LTI polytopic vertex system was obtained through the transformation,then the state-feedback controller satisfying H∞performance was designed in each vertex using linear matrix inequalities( LMIs) approach,. Finally,a robust variable gain H∞controller was synthesized via convex decomposition techniques. The velocity tracking based on nonlinear model was carried out with the designed controller,simulation results illustrate the validity of the designed controller.更多还原