鲁棒H∞/S面模型下的无人机高度控制方法
Method of UAV Height Control based on H∞/S-plane Model

针对无人机在飞行过程中经常受到外界扰动以及模型参数的不确定性，本文设计出一种鲁棒H∞/S面模型控制算法，其外环采用具有较强非线性的S面控制算法，内环采用具有较强鲁棒性的鲁棒控制。采用某型无人机标称模型分别仿真验证了在没有外界干扰、有外界干扰及参数摄动情况下H∞/S面模型控制算法对无人机高度控制的效果。结果表明：和H∞/PD模型控制算法相比，H∞/S面模型控制算法简单，具有良好的快速性、精确性、鲁棒性和动态性能，更适用于无人机的高度控制。
In order to resolve the external disturbances and model parameter uncertainty during the unmanned aerial vehicle(UAV) flight process, a robust H∞/S-plane model control algorithm was designed, in which the outer ring adopts the S-plane control algorithm with strong nonlinear, and the inner ring adopts robust H∞ control with strong robustness. The nominal model of a certain UAV was simulated to verify respectively the effect of H∞/S model control algorithm to the height of UAV in the conditions of external interference, parameter perturbation and without external interference. The results show that the H∞/S-plane model control algorithm is concise with good convergence, accuracy, robustness and dynamic performance compared with the H∞/PD model control algorithm, which make it more suitable for UAV height control