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针对超空泡航行体动力学模型存在强非线性及耦合等特点,提出一种基于松弛变量的线性参数变化(LPV)系统鲁棒变增益控制器设计方法.通过对系统中非线性滑行力进行分析变换,将非线性系统转换为含有变参数的线性参变系统,由调度策略得到其多胞形描述形式.为降低系统保守性,在多胞形各顶点设计控制器时引入松弛变量,实现系统矩阵与李雅普诺夫函数解耦,将各顶点控制器进行插值综合后得到依赖参数调节的系统全局控制器.仿真结果表明:所设计的控制器能够使系统快速准确地跟踪给定指令,同时对外界干扰具有一定的鲁棒性.
Aiming at the strong nonlinearity and coupling of the dynamics model of the supercavitating navigation body, a robust variable gain controller design method based on the slack variable for a linear parametric variation (LPV) system is proposed. By analyzing the nonlinear sliding force in the system, The transformation is analyzed, and the nonlinear system is transformed into a linear parametric system with variable parameters, and the polytopic description form is obtained by the scheduling strategy.In order to reduce the system’s conservativeness, the relaxation variable is introduced when designing the controller at the polygamous vertices. The system matrix and the Lyapunov function are decoupled, and the system global controller dependent on parameter adjustment is obtained by interpolation of each vertex controller.The simulation results show that the designed controller can make the system track the given command quickly and accurately, meanwhile, It has certain robustness against external interference.