Robust H∞ directional control for a sampled-data autonomous airship |
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作者姓名: | 王曰英 王全保 周平方 段登平 |
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基金项目: | Projects(51205253,11272205)supported by the National Natural Science Foundation of China; Project(2012AA7052005)supported by the National High Technology Research and Development Program of China |
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摘 要: | A robust H∞ directional controller for a sampled-data autonomous airship with polytopic parameter uncertainties was proposed. By input delay approach, the linearized airship model was transformed into a continuous-time system with time-varying delay. Sufficient conditions were then established based on the constructed Lyapunov-Krasovskii functional, which guarantee that the system is mean-square exponentially stable with H∞ performance. The desired controller can be obtained by solving the obtained conditions. Simulation results show that guaranteed minimum H∞ performance γ=1.4037 and fast response of attitude for sampled-data autonomous airship are achieved in spite of the existence of parameter uncertainties.
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关 键 词: | 采样数据 Lyapunov-Krasovskii泛函 飞艇 方向控制 参数不确定性 连续时间系统 鲁棒 均方指数稳定 |
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