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

Journal of systems Engineering and Electronics 2015年第5期26卷 1043-1051页

作者： Liu Cui Li Chen Dengping Duan School of Aeronautics and Astronautics Shanghai Jiao Tong University

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.

关键词： unmanned airship gain-scheduling model predictive control polytopic uncertain actuator saturated systems

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