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针对含有飞行时滞的垂直起降(VTOL)直升机系统设计了时滞相关鲁棒非脆弱H_∞控制器。基于时滞中点值把时滞区间均分为两部分,针对每一分割区间构造新的Lyapunov-Krasovskii(L-K)泛函,并结合L-K稳定性定理、积分不等式方法和自由权矩阵技术,建立了新的基于线性矩阵不等式(LMI)形式的时滞相关有界实(BRL)条件。在此基础上设计了该系统的非脆弱H_∞控制器,通过求解线性矩阵不等式的可行解得到控制器的参数化表达式。最后应用于VTOL直升机的飞行控制仿真表明,所设计的控制器具有更好的鲁棒性和非脆弱性。
A time-delay-dependent robust and non-fragile H_∞ controller is designed for a VTOL helicopter system with flight delay. A new Lyapunov-Krasovskii (LK) functional for each segment is constructed based on the mid-point value of delay, and the LK stability theorem, the integral inequality method and the free-weight matrix technique are used to establish the new Lyapunov-Krasovskii A new delay-dependent bounded real (BRL) condition based on the form of linear matrix inequality (LMI) is proposed. On this basis, the non-fragile H_∞controller of this system is designed. The parametric expression of the controller is obtained by solving the feasible solution of the linear matrix inequality. Finally, the flight control simulation applied to the VTOL helicopter shows that the designed controller has better robustness and non-vulnerability.