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针对无人机大包线飞行中气动特性大幅变化以及存在参数不确定性和外界干扰等特点,设计全包线模糊鲁棒跟踪控制器.通过模糊c-均值聚类建立逼近全包线动态的模糊T-S(Takagi-Sugeno)模型.基于高度和空速跟踪增广系统,根据保性能控制理论,采用广义系统的模糊Lyapunov函数方法,以线性矩阵不等式形式给出全包线模糊鲁棒跟踪控制器参数的约束条件,保证广义系统稳定.并最小化扰动抑制度来优化控制参数.该控制器既降低了控制保守性,又减小了参数求解的复杂度.仿真表明,无人机在整个飞行包线内能够精确地跟踪空速和高度参考指令,对参数不确定和外界干扰具有强鲁棒性.
Aiming at the great changes of aeroaccumulation and the existence of parameter uncertainty and external disturbances in UAV flight, an all-envelope fuzzy robust tracking controller is designed.The fuzzy c- Fuzzy GA (Takagi-Sugeno) model.Based on the theory of guaranteed cost control and the fuzzy Lyapunov function method of generalized system, an all-envelope fuzzy robust tracking controller is presented in the form of linear matrix inequality The constraints of the parameters to ensure the stability of the generalized system and to minimize the degree of disturbance suppression to optimize the control parameters.The controller not only reduces the control conservativeness but also reduces the complexity of parameter solution.The simulation shows that the UAV in the entire flight Envelopes can accurately track the airspeed and height reference commands, with robustness to uncertain parameters and external disturbances.