This paper presents a novel speed control method for an unmanned flight system. A Polytopic Linear Parameter Varying model is generated by linearization of the nonlinear dynamic model around several trim points. As a novelty of this paper, an Integral action over the tracking error is added to a conventional state-feedback to form the proposed control law. Augmenting the proposed control action to the system dynamic, the proposed control law is reassigned as a common state-feedback control problem. An attenuation level for the tracking error under external disturbances is guaranteed by solving the related linear matrix inequalities to compute the control gains. In the end, the designed controller has been implemented for different scenarios in order to maintain the speed in different modes with the ability to control the longitudinal, Lateral, and altitude velocities simultaneously. The simulation results show the effectiveness of the proposed control against the system uncertainties, external disturbances, and the interactions between different channels.

本文提出了一种新的无人飞行系统速度控制方法。多面体线性参数变化模型是通过围绕几个修整点对非线性动态模型进行线性化而生成的。作为本文的一个新颖之处，对跟踪误差的积分作用被添加到传统的状态反馈中，以形成所提出的控制律。将提议的控制动作增强到系统动态，提议的控制律被重新分配为常见的状态反馈控制问题。通过求解相关的线性矩阵不等式来计算控制增益，保证了外部干扰下跟踪误差的衰减水平。最后，设计的控制器已针对不同的场景实施，以保持不同模式下的速度，并具有控制纵向、横向、和高度速度同时进行。仿真结果表明了所提出的控制对系统不确定性、外部干扰和不同通道之间相互作用的有效性。