[1]夏 慧,陈庆伟.小型无人直升机非脆弱鲁棒H∞控制器设计方法研究[J].南京理工大学学报(自然科学版),2015,39(03):272.
 Xia Hui,Chen Qingwei.Robust non-fragile H∞ controller design method for small-scale unmanned helicopter[J].Journal of Nanjing University of Science and Technology,2015,39(03):272.
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小型无人直升机非脆弱鲁棒H控制器设计方法研究
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《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

卷:
39卷
期数:
2015年03期
页码:
272
栏目:
出版日期:
2015-06-30

文章信息/Info

Title:
Robust non-fragile H controller design method for small-scale unmanned helicopter
作者:
夏 慧陈庆伟
南京理工大学 自动化学院,江苏 南京 210094
Author(s):
Xia HuiChen Qingwei
School of Automation,NUST,Nanjing 210094,China
关键词:
小型无人直升机 非脆弱鲁棒 H控制 参数扰动 时滞 非线性项 状态方程 李雅普诺夫方程
Keywords:
small-scale unmanned helicopter non-fragile robust H control parameter perturbation time delay nonlinear term state equation Lyapunov function
分类号:
TP13
摘要:
针对小型无人直升机存在时滞、不确定性及非线性动态问题,提出一种针对小型无人直升机模型具有非线性和时滞的H非脆弱鲁棒控制器设计方法。首先将直升机系统描述为具有参数扰动、时滞和非线性项的1个状态方程,然后基于李雅普诺夫方程给出了H非脆弱鲁棒控制器存在的充分条件。仿真结果表明该方法设计的控制器具有良好的鲁棒性和非脆弱性。
Abstract:
Considering the delay,uncertainty and nonlinear dynamics of small-scale unmanned helicopters,a robust non-fragile H controller design method for a small-scale unmanned helicopter model is proposed with nonlinearity and time delay.Firstly,the helicopter system is described as a state equation with parameter perturbation,time delay and nonlinear term.Then,sufficient condition for the existence of the H non-fragile robust controller is given based on Lyapunov function.Simulation results validate the robustness and non-fragility of the proposed method.

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备注/Memo

备注/Memo:
收稿日期:2015-04-23 修回日期:2015-05-28
基金项目:国家自然科学基金(61074023)
作者简介:夏慧(1983-),女,博士生,主要研究方向:直升机辨识建模与鲁棒控制,E-mail:mirrorxh@136.com; 通讯作者:陈庆伟(1963-),男,教授,博士生导师,主要研究方向:网络化控制系统、运动体高精度跟踪控制系统,E-mail:cqwnjust@hotmail.com。
引文格式:夏慧,陈庆伟.小型无人直升机非脆弱鲁棒H控制器设计方法研究[J].南京理工大学学报,2015,39(3):272-279.
投稿网址:http://zrxuebao.njust.edu.cn
更新日期/Last Update: 2015-06-30