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给出了扑翼微型飞行器姿态控制系统的数学模型,并提出了一种新颖的非线性H∞控制方法。飞行过程的复杂性使得姿态控制极具挑战性,主要困难是系统表现为非线性、时变参数以及各种干扰。为此提出了一种全局非线性H∞控制策略,系统控制综合是基于李亚普诺夫理论而非求解HJI偏微分方程。该方法克服了时变参数及未知干扰对系统的影响。证明了控制器的全局渐进稳定性并将其用于扑翼微型飞行器非线性H∞姿态控制系统的仿真,仿真结果验证了所提方法的有效性。
The mathematical model of the attitude control system of flapping-wing micro-aircraft is given and a novel nonlinear H∞ control method is proposed. The complexity of the flight process makes attitude control very challenging. The main difficulty is the performance of the system as nonlinear, time-varying parameters and various disturbances. To this end, a global nonlinear H∞ control strategy is proposed. The system control synthesis is based on Lyapunov theory rather than solving HJI partial differential equations. The method overcomes the time-varying parameters and unknown interference on the system. The global asymptotic stability of the controller is proved and used to simulate the nonlinear H∞ attitude control system of flapping-wing micro-aircraft. The simulation results verify the effectiveness of the proposed method.