针对一类非线性系统, 设计了增益调度解耦控制律, 且给出了定量的闭环特性分析. 在控制系统分析中, 建立了闭环系统阶跃响应和动态性能指标关于控制参数的数学表达式, 从而克服了许多控制算法中参数试凑的盲目性和重复性. 此外, 在控制律实现中, 为保证作为调度变量的系统输出缓慢变化, 且为避免工作点处实际模型和线性模型之间的大偏差以及控制量的瞬时值过大或是振荡, 提出进行参考信号变换, 即阶跃跳变部分都用正弦信号去替代. 为验证所设计控制律的可行性和有效性, 将其应用于四旋翼飞行器的飞行控制中. 根据四旋翼飞行器的结构特性和运动原理, 设计了递阶形式的飞行控制结构, 并采用所提出的增益调度解耦控制律分别设计外环的位置控制器和内环的姿态控制器. 飞行仿真结果表明所设计的飞行控制系统结构和所提出的控制律具有可行性和有效性.

A class of nonlinear systems is investigated in this paper, for which a novel gain-scheduling decoupling control law is proposed. One of the advantages of the proposed control law is that the system response and control performance indices are mathematically expressed with the control parameters. Therefore, the adjustment of control parameters can follow an efficient way rather than the tedious and repetitive trial-and-error procedure which is utilized in many control laws. Moreover, the step signal or square signal, which is usually considered as reference input for controlled systems, will be replaced with a differentiable signal to avoid undesirable effects. To be specific, the undesirable effects include difference between the practical system and the linearized model at the operating points and the extremely large transient amplitude or oscillation of control input, which result from the abrupt and large change in value of reference signal. Furthermore, the proposed control law is introduced to address flight control problem for quadrotor helicopters to validate its effectiveness. A hierarchical flight control structure is developed according to the basic structure and operating principle of quadrotor helicopters. Under the proposed control structure, the position control and attitude control are considered as outer loop control and inner loop control, respectively. As far as nonlinear dynamics is concerned, the gain-scheduling strategy is used, and for each of the operating points, the proposed linear decoupling control law is utilized to design both the outer loop controller and the inner loop controller. Results from the flight simulations indicate the feasibility and efficiency of the proposed control structure and control law.