多螺旋桨浮空器的抗饱和控制器设计

摘要/Abstract

摘要：

针对执行机构受不对称约束的多螺旋桨浮空器，采用直接法和间接法设计了抗饱和控制器，通过线性变换将不对称约束转换为对称约束，利用广义扇形条件处理饱和非线性，采用2次Lyapunov方程分析饱和受限闭环系统的L2性能，给出了基于线性矩阵不等式(LMI)的综合条件，并将抗饱和控制器设计转化为LMI的凸优化求解问题，采用现有的YALMIP工具箱进行求解，分别给出采用直接法和间接法设计的抗饱和稳定控制器的仿真结果，以验证2种控制器设计方法的有效性.

关键词: , 多螺旋桨浮空器, 控制器, 不对称约束, 抗饱和, 线性矩阵不等式

Abstract:

Two controller design methods, direct method and indirect method, are used to design antiwindup controller for the multipropeller aerostat with asymmetric actuator constraints. A linear transformation is applied to transfer the asymmetric constraint into a symmetric one. As a result, the generalized sector condition is used to deal with the saturation nonlinearity. By using a quadratic Lyapunov function, linear matrix inequality (LMI) based synthesis condition is presented to address the problem of L2 performance analysis of the saturation constraint closedloop system. The indirect method and the direct method are applied to design controller. The solution of the controller is transformed to a convex optimization expressed in a LMI form and solved by YALMIP toolbox. Finally, simulation results of the direct method and the indirect method show their effectiveness.

Key words: multi-propeller aerostat, controller, asymmetric constraints, anti-windup;linear matrix inequality (LMI)

中图分类号:

V 411.8

刘芬，陈丽,段登平. 多螺旋桨浮空器的抗饱和控制器设计[J]. 上海交通大学学报（自然版）, 2017, 51(2): 157-.

LIU Fen,CHEN Li,DUAN Dengping. Anti-Windup Controller Design for a Multi-Propeller Aerostat[J]. Journal of Shanghai Jiaotong University, 2017, 51(2): 157-.

参考文献

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