CAJ | 학술논문

无人机在进场着陆过程中存在低空风切变和外界各种不确定性干扰等因素,根据无人机精确进场自动着陆性能要求,利用线性矩阵不等式凸优化方法设计鲁棒H_∞控制器,在满足自动着陆系统轨迹跟踪及速度控制性能的同时,能够有效抑制低空风切变及外界不确定性干扰,将所设计的自动着陆控制律在低空风切变大气干扰下进行验证,仿真结果表明,无人机着陆下滑及拉平轨迹响应具有良好的动态跟踪性能和鲁棒性,验证了该设计方法的正确性和有效性.
무인궤재진장착륙과정중존재저공풍절변화외계각충불학정성간우등인소,근거무인궤정학진장자동착륙성능요구,이용선성구진불등식철우화방법설계로봉H_∞공제기,재만족자동착륙계통궤적근종급속도공제성능적동시,능구유효억제저공풍절변급외계불학정성간우,장소설계적자동착륙공제률재저공풍절변대기간우하진행험증,방진결과표명,무인궤착륙하활급랍평궤적향응구유량호적동태근종성능화로봉성,험증료해설계방법적정학성화유효성.
The UAV is disturbed by low altitude wind shear and many uncertain factors during landing.According to the performance of auto-landing,Robust H_∞ controller was designed using linear matrix inequality(LMI)convex optimization method.from which landing trajectory could be tracked exactly and external disturbance and wind shear disturbance was inhibited.The designed control law was validated in the case of low altitude wind shear disturbance with system parameter perturbations.The simulation results show that the dynamic track-ing robust performance of landing is good and the method is correct and effective.