Gain-scheduling model predictive control for unmanned airship with LPV system description

作     者：Liu Cui Li Chen Dengping Duan 

作者机构：School of Aeronautics and Astronautics Shanghai Jiao Tong University 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术(英文版))

年 卷 期：2015年第26卷第5期

页      面：1043-1051页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：supported by the National Natural Science Fundation of China(61175074 11272205) 

主　　题：unmanned airship gain-scheduling model predictive control polytopic uncertain actuator saturated systems 

摘      要：This paper presents a gain-scheduling model predictive control(MPC) for linear parameter varying(LPV) systems subject to actuator saturation. The proposed gain-scheduling MPC algorithm is then applied to the lateral control of unmanned *** unmanned airship is modeled by an LPV-type system and transformed into a polytopic uncertain description with actuator saturation. By introducing a parameter-dependent state feedback law, the set invariance condition of the polytopic uncertain system is identified. Based on the invariant set, the gain-scheduling MPC controller is presented by solving a linear matrix inequality(LMI) optimization problem. The proposed gain-scheduling MPC algorithm is demonstrated by simulating on the unmanned airship system.