This paper develops an adaptive robust control scheme combined with optimal design for the unmanned helicopter tail reduction (UHTR) system. The dynamical model of the UHTR system with uncertainties is established. The uncertainties are assumed to be bounded and expressed by fuzzy set theory. With this prerequisite, an adaptive robust controller is proposed to drive the system to meet the trajectory requirements approximately. The adaptive law with leakage and dead zone is performance based and flexibly adjustable. By means of Lyapunov stability theorem, the UHTR system is both uniform bounded and uniform ultimate bounded with the proposed controller. The control scheme is deterministic rather than fuzzy if-then rules-based control. Moreover, the fuzzy performance index which contains the steady-state system performance and control cost is presented. In this way, the optimal design problem can be replaced by minimizing the performance index. Overall, the resulting control scheme can guarantee deterministic performance of the UHTR system and minimize the fuzzy performance index simultaneously.

中文翻译：

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模糊无人直升机机尾的自适应鲁棒控制与优化设计

本文针对无人直升机减尾（UHTR）系统，开发了一种与优化设计相结合的自适应鲁棒控制方案。建立了具有不确定性的UHTR系统动力学模型。假定不确定性由模糊集理论来界定和表示。在此前提下，提出了一种自适应鲁棒控制器来驱动系统，使其大致满足轨迹要求。具有泄漏和死区的自适应定律基于性能，并且可以灵活调整。借助李雅普诺夫稳定性定理，UHTR系统既具有统一边界，又具有所提出控制器的统一最终边界。控制方案是确定性的，而不是基于if-then规则的模糊控制。此外，提出了包含系统稳态性能和控制成本的模糊性能指标。这样，可以通过最小化性能指标来替代最佳设计问题。总体而言，最终的控制方案可以保证UHTR系统的确定性性能，并同时将模糊性能指标降至最低。