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针对带有输入饱和限制的高超声速飞行器非线性纵向运动模型,提出了一种鲁棒模型预测控制器(RMPC)设计方法。利用雅克比线性化以及张量积(T-P)模型转换方法,将高超声速飞行器非线性模型转化为多胞线性参变(LPV)模型。在此基础上,将输入饱和表示为实际反馈控制律与辅助反馈控制律构成的凸包,建立饱和RMPC控制器,并通过引入辅助矩阵来降低其保守性,利用线性矩阵不等式(LMI)求解,以保证输入饱和条件下闭环系统的控制性能和稳定性。通过与其它RMPC控制器的仿真比较,验证了本文方法的有效性。
Aiming at the nonlinear longitudinal motion model of hypersonic vehicle with input saturation limitation, a robust model predictive controller (RMPC) design method is proposed. The nonlinear model of the hypersonic vehicle is transformed into a polytopic linear parametric (LPV) model by using the Jacobian linearization and the T-P model transformation method. On this basis, the input saturation is expressed as a convex hull composed of the actual feedback control law and the auxiliary feedback control law, and a saturated RMPC controller is established. By introducing an auxiliary matrix to reduce its conservativeness, linear matrix inequality (LMI) In order to guarantee the control performance and stability of the closed-loop system under the input saturation condition. Compared with the simulation of other RMPC controllers, the effectiveness of the proposed method is verified.