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研究系统存在不确定性的大柔性飞行器的姿态跟踪控制问题.针对高阶大柔性飞行器模型,使用平衡实现方法对其降阶,并通过奇异值对比分析系统降阶前后特性.基于降阶模型,设计LQR-PI控制器作为基线控制器.考虑不确定性,利用李雅普诺夫稳定性理论设计模型参考自适应控制器,并对比两种方法的控制效果.仿真结果显示,所提方案对包含不确定性的系统具有较好的控制效果,能使系统完成期望的姿态跟踪目标.
This paper studies the problem of attitude tracking control of large flexible aircraft with uncertainties.Aiming at high-order large and flexible aircraft model, the method of equilibrium realization is used to reduce the order of the aircraft and the characteristics of the reduced order before and after the system are analyzed by singular value.According to the reduced order model, The LQR-PI controller is designed as a baseline controller. Considering the uncertainty, the model reference adaptive controller is designed by using Lyapunov stability theory, and the control effects of the two methods are compared. The simulation results show that the proposed scheme, Certainty of the system has good control effects, enabling the system to complete the desired attitude tracking goal.