Название: Optimization of helicopter motion control based on the aggregated interpolation model.

Авторы: Ефремов А.В., Кудрявцева И, Пантелеев А.

Место публикации: 21st International Conference on Computational Mechanics and Modern Applied Software Systems, CMMASS 2019.

Язык: Английский.

Тип: Conference Proceeding.

Дата публикации:  22.11.2019

Краткое описание:

In the article we propose the optimization approach to the control synthesis problem for a dynamic system given by several subsystems describing helicopter’s behavior for different values of the longitudinal velocity. It is required the designed helicopter control system to be operable under any laws of changing the longitudinal velocity from a certain class of functions. The quadratic criterion is employed to characterize the quality of the control process. The original nonlinear model is approximated by a Takagi-Sugeno type fuzzy model, which boils down to combination of linear submodels. Each submodel involves equations linearized about trim modes with fixed values of the helicopter’s velocity. We offer to find a full state feedback as a result of the aggregation procedure based on interpolation using the set of basis functions. Finite functions are chosen as the basis functions for decomposition of the system matrices involved in the state equation and control. It is worth noting that the finite functions can also be treated as membership functions. The aggregation concept is also spread out on seeking the suboptimal feedback for the original system. Composition of the optimal linear regulators found for the linear subsystems separately is taken as the desired regulator. The effectiveness of the obtained control law is investigated as a result of modeling the developed full feedback control system obtained via aggregation of linear subsystems.