Design method for scheduling unmanned aerial vehicle based on robust servo gain

Abstract

The invention discloses a design method for scheduling an unmanned aerial vehicle based on a robust servo gain, and belongs to the technical field of robust control of an unmanned aerial vehicle. Thedesign method comprises the following steps of S1, using an improved model linear processing method based on a function substitution method, improving the function substitution method for building anLPV system model, and building a longitudinal LPV system model of the unmanned aerial vehicle with he variable structure; S2, using a variable gain control method based on the structure matrix, introducing an additional state and a structure matrix, and simplifying the structure of the controller; and S3, acquiring a preliminary expression of the controller structure by using the variable gain control method based on the structure matrix in the step S2, and acquiring a final structure expression by simplifying the preliminary expression. By using the controller designed according to the methodprovided by the invention, the control on the linear variable parameter system is achieved, the defects of the high order number and the high-frequency band controller are overcome, the extremely high practical value is achieved, and the design method can be applied and popularized in the field of time-varying systems with uncertainty disturbance.

Description

technical field [0001] The invention relates to the technical field of robust control of unmanned aerial vehicles, in particular to a design method for scheduling an unmanned aerial vehicle controller based on robust servo gain. Background technique [0002] For the variable parameter system, the traditional variable gain control can only realize the stability and reliability of the parameters in the linear constant system with fixed parameters. For the LPV (Linear Parameter-Varying) system that meets the parameter slowly changing conditions, the stability of the system can be judged based on the stability of the linear steady system with fixed parameters, but for other general LPV systems, this stability are not equivalent. [0003] At present, for such problems, scholars have studied LPV systems and traditional robust control theories, proposed the robust control problem of LPV systems, and extended the robust control methods of linear steady-state systems to LPV systems....

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Problems solved by technology

Since not all states are measurable in practice, output feedback is a more practical method, and for the H of the LPV system ∞ Output feedback robust control also has the problem of coupling between the controller matrix and the Lyapunov matrix. Due to the real-time problem of the convex optimization algorithm, it is unrealistic to solve the LMI online. Therefore, for the robust control of the LPV system, two key considerations need to be considered: Problem: Influence of Variable Parameters and Online Computation of Controllers

[0006] At present, in order to realize the control of the LPV system, the design is still a linear constant system controller, which treats the completion of the parameter change as an uncertainty, which is very conservative, although the PID control method of the variable gain switch of the LPV system was studied later , but the existing methods have requirements for the specific form of the controlled system

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