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| 自适应鲁棒H2控制及其在小型无人直升机航向控制中的应用 | |
| 引用本文： | 赵新刚,姜哲,王贺,韩建达,刘光军.自适应鲁棒H2控制及其在小型无人直升机航向控制中的应用[J].高技术通讯,2007,17(6):600-605. |
| 作者姓名： | 赵新刚 姜哲 王贺 韩建达 刘光军 |
| 作者单位： | 1. 中国科学院沈阳自动化研究所,机器人重点实验室,沈阳,110016;中国科学院研究生院,北京,100049 2. 中国科学院沈阳自动化研究所,机器人重点实验室,沈阳,110016 3. 加拿大瑞森大学航空与航天工程学院,多伦多,M5B2K3 |
| 基金项目： | 国家高技术研究发展计划(863计划) |
| 摘 要： | 提出了一个新的鲁棒控制方法并将其应用到小型无人直升机的航向控制中.给出了直升机的非线性航向动力学模型并进行简化,然后线性化为具有仿射不确定性的线性模型.针对这个线性模型,基于线性矩阵不等式方法提出了具有自适应机制的鲁棒H2反馈控制器.这种设计方法可以降低固定增益控制器所固有的保守性,提高控制效果.数字仿真验证了设计方法的可行性. |
| 关 键 词： | 直升机 鲁棒控制 自适应控制 不确定性 H2控制 |
| 收稿时间： | 2006-10-11 |
| 修稿时间： | 2006-10-11 |
Adaptive robust H2 control for the yaw control of small-scale helicopter |
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| Zhao Xingang,Jiang Zhe,Wang He,Han Jianda,Liu Guangjun.Adaptive robust H2 control for the yaw control of small-scale helicopter[J].High Technology Letters,2007,17(6):600-605. | |
| Authors: | Zhao Xingang Jiang Zhe Wang He Han Jianda Liu Guangjun |
| Affiliation: | 1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016;2. Graduate University of Chinese Academy of Sciences, Beijing 100039;3.Department of Aerospace Engineering Ryerson University, Toronto M5B2K3 |
| Abstract: | This paper presents a robust controller design approach to the yaw control of a small-scale helicopter mounted on an experimental platform. The nonlinear yaw dynamic system was linearized into a linear system, which was modelled by an affine uncertainty model. Based on the linear matrix inequalities method, a novel robust H2 feedback controller with adaptive mechanisms was proposed for the linear system with guaranteed control performance. The design approach reduced conservatism inherent in robust control with a fixed gain controller and improved performances in time-response. Numerical simulations illustrated the theoretical developments. |
| Keywords: | helicopter robust control adaptive control uncertainty H2 control |
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