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研究空中机器人(小型无人直升机)的约束优化控制问题。对小型无人直升机的非线性系统模型进行系统约简,建立混合系统的分段仿射系统模型,针对该问题求解中遇到的在线计算量大,不利于实时控制等问题,提出利用多参数二次规划离线计算出混合系统最优控制律的方法。基于多参数二次规划的方法,在最大可控不变集的可行域内进行显式优化控制器设计,通过反向动态规划,求出对应每一步的优化解,从而求得不变集作为可行域的优化解。通过实际参数的系统仿真,证明了方法的有效性。
Research on constrained optimization control of air robot (small unmanned helicopter). The system model of small unmanned helicopter nonlinear system is reduced, and a piecewise affine system model of hybrid system is established. In order to solve the problem of large online computation, which is not conducive to real-time control, Number of quadratic programming offline computing hybrid system optimal control law. Based on the method of multi-parameter quadratic programming, the explicit optimal controller design is performed in the feasible domain of the maximum controllable invariant set. By the inverse dynamic programming, the optimal solution corresponding to each step is obtained, so as to obtain the invariant set as Optimal solution of feasible region. The system simulation of the actual parameters proves the effectiveness of the method.