Robust Control Toolbox^®を用いたオブザーバベース飛行制御器設計

抄録

This paper addresses the design problem of Luenberger observer-based robust iHi_∞ flight controllers for aircraft motion control. Structured Linear Time-Invariant (LTI) iHi_∞ controllers, which are merely sub-optimal with respect to the optimality of H_∞ norm in controllers' parameter space but are attractive due to the simpler structure than full-order H_∞ controllers, can be easily designed using MATLAB^® hinfstruct even for LTI Parameter-Dependent (LTIPD) and Linear Parameter-Varying (LPV) systems via two-step design. That is, controller gain candidates are firstly designed as common gains for multiple LTI models selected from the LTIPD or LPV systems with specific parameter values, and their practical performance is then examined for the LTIPD or LPV systems with rigorous analysis conditions. However, hinfstruct cannot handle multiple design specifications simultaneously, thus, it is not so easy to design practical flight controllers which should meet various requirements. This paper addresses the design problem of Luenberger observer-based robust H_∞ flight controllers using MATLAB^® systune, and demonstrates that such controllers can be designed with observer performance optimized under a priori specified scaled-H_∞ performance and controller gain constraints. The effectiveness of the controller is examined by Hardware-In-the-Loop Simulations (HILS) with JAXA's research airplane MuPAL-α.