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研究了具有参数不确定性的无人飞行器参数依赖鲁棒控制器设计问题。采用误差四元数建立姿态运动方程,避免了欧拉角描述姿态运动存在奇异性的问题。通过引入附加的松弛矩阵使Lyapunov矩阵和系统矩阵分离,并利用平方和工具箱求解非线性矩阵不等式得到了系统的鲁棒控制器。仿真结果表明了所提出的控制器设计方法的可行性和有效性。
The problem of parameter-dependent robust controller design for UAV with uncertain parameters is studied. The error quaternion is used to establish the equation of motion of the pose, which avoids the problem that the Euler angle describes the singularity of the pose motion. By introducing an additional relaxation matrix, the Lyapunov matrix and the system matrix are separated, and a robust controller of the system is obtained by solving the nonlinear matrix inequality using the square sum toolbox. The simulation results show that the proposed controller design method is feasible and effective.