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常规的特征结构配置(EA)方法不能同时满足系统频域设计指标和鲁棒稳定性的要求,而H_∞鲁棒控制理论在设计控制器时,并没有考虑系统时域性能。为此,基于特征结构配置和H_∞鲁棒控制,设计一种直观的控制器。该控制器以特征结构配置作为内环控制器,以H_∞鲁棒控制器作为外环控制器,使闭环系统能同时获得较好的时域动态特性、鲁棒稳定性以及指令跟踪性能力。通过对某无人机横侧向飞行控制的仿真,进一步验证了该方法的有效性。
However, the conventional EIA method can not meet the requirements of system frequency domain design index and robust stability at the same time. However, the H_∞ robust control theory does not consider the system time-domain performance when designing the controller. Therefore, based on the feature configuration and H_∞ robust control, an intuitive controller is designed. The controller is characterized by the configuration of the inner loop controller and the H_∞ robust controller as the outer loop controller so that the closed-loop system can achieve better time-domain dynamics, robust stability and command tracking capability. The effectiveness of this method is further verified by simulating a lateral flight control of a UAV.