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首页> 外文期刊>Automatica Sinica, IEEE/CAA Journal of >Asynchronous H∞ control for unmanned aerial vehicles: switched polytopic system approach
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Asynchronous H∞ control for unmanned aerial vehicles: switched polytopic system approach

机译：无人机的H ∞异步控制：切换多主题系统方法

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摘要

This study is concerned with the H control for the full-envelope unmanned aerial vehicles (UAVs) in the presence of missing measurements and external disturbances. With the dramatic parameter variations in large flight envelope and the locally overlapped switching laws in flight, the system dynamics is modeled as a locally overlapped switched polytopic system to reduce designing conservatism and solving complexity. Then, considering updating lags of controller's switching signals and the weighted coefficients of the polytopic subsystems induced by missing measurements, an asynchronous H control method is proposed such that the system is stable and a desired disturbance attenuation level is satisfied. Furthermore, the sufficient existing conditions of the desired switched parameter-dependent H controller are derived in the form of linear matrix inequality (LMIs) by combining the switched parameter-dependent Lyapunov function method and average dwell time method. Finally, a numerical example based on a highly maneuverable technology (HiMAT) vehicle is given to verify the validity of the proposed method.
机译：这项研究与全尺寸无人飞行器（UAV）的H控制有关，因为缺少测量值和外部干扰。由于在较大的飞行包线中存在巨大的参数变化以及飞行中局部重叠的切换定律，因此将系统动力学建模为局部重叠的切换多面体系统，以减少设计的保守性并解决复杂性。然后，考虑到控制器的开关信号的更新滞后和测量值丢失引起的多子系统子系统的加权系数的变化，提出了一种异步H控制方法，使系统稳定并满足期望的干扰衰减水平。此外，通过组合依赖于开关参数的Lyapunov函数方法和平均停留时间方法，可以以线性矩阵不等式（LMI）的形式导出所需的依赖于开关参数的H控制器的足够的现有条件。最后，给出了一个基于高度可操作技术（HiMAT）车辆的数值示例，以验证所提出方法的有效性。

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