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论文:2012,Vol:30,Issue(5):746-751 |
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引用本文: |
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邵朋院, 吴成富, 马松辉, 毛保磊. 基于LPV鲁棒输出反馈控制的变形无人机暂态控制律设计[J]. 西北工业大学 |
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Shao Pengyuan, Wu Chengfu, Ma Songhui, Mao Baolei. An Effective Design of Transient Mode Controller for Morphing UAV Based on LPV Robust Output Feedback Control[J]. Northwestern polytechnical university |
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基于LPV鲁棒输出反馈控制的变形无人机暂态控制律设计 |
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邵朋院1, 吴成富1, 马松辉1, 毛保磊2 |
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1. 西北工业大学 无人机特种技术重点实验室, 陕西 西安 710065; 2. 西北工业大学 自动化学院, 陕西 西安 710072 |
摘要: |
文章研究了LPV鲁棒输出反馈控制技术在变形无人机变形过程的纵向暂态控制中的应用。首先,从理论上研究了LPV鲁棒输出反馈控制问题的求解及解的可实现性问题,然后用雅克比线性化方法建立了飞机的LPV模型,并以变形无人机变形暂态过程中纵向俯仰角保持为例,使用LPV鲁棒输出反馈设计其控制器。结构奇异值分析和蒙特卡洛仿真结果均表明,系统具有很好的鲁棒性和控制性能。最后,对LPV鲁棒输出反馈技术进行了总结,并给出了需要进一步研究的问题。 |
关键词:
LPV系统
变形无人机
鲁棒控制
暂态控制
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An Effective Design of Transient Mode Controller for Morphing UAV Based on LPV Robust Output Feedback Control |
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Shao Pengyuan1, Wu Chengfu1, Ma Songhui1, Mao Baolei2 |
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1. Science and Technology on UAV Laboratory, Northwestern Polytechnical University, Xi'an 710065, China; 2. Department of Automatic Control, Northwestern Polytechnical University, Xi'an 710072, China |
Abstract: |
Linear Parameter-Varying(LPV)method is researched and used to design a pitch angle controller of tran-sient mode in the morphing process of a morphing wing UAV(MUAV).Sections 1, 2 and 3 of the full paper ex-plain and evaluate our design, which we believe is effective.Their core consists of:(1) the LPV robust outputfeedback control and its realizability are researched in theory; after that, LPV model of MUAV is set up based on aJacobian linearization method and the pitch angle controller in the morphing process is designed using LPV robustoutput feedback control; (2) both structured singular value analysis and Monte Carlo simulation results show pre-liminarily that the controller is able to track the reference command with desired performance and robustness, thusshowing that our design is indeed effective.Section 4 gives a conclusion with discussion, pointing out that ourmethod needs to be improved in two respects. |
Key words:
computer simulation
design
feedback control
linearization
mathematical models
Monte Carlomethods
robust control
scheduling
transient analysis
unmanned aerial vehicles(UAV);LinearParameter-Varying (LPV) systems
morphing UAV
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收稿日期: 2011-11-06
修回日期:
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作者简介: 邵朋院(1986-),西北工业大学博士研究生,主要从事无人机导航制导与控制的研究。
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参考文献: |
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