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Robust gain-scheduled acceleration autopilot design using Linear Parameter Varying(LPV) reference model is presented for portable missile with large-scale parameter variation and unmodelled dynamics. Damping loop is designed firstly with a varying feedback gain to improve the dynamics characteristics of the portable missile. The LPV reference model and the damped missile dynamics are integrated together as the generalized controlled plant. Then the robust gain-scheduled control technique, i.e. LPV/μ mixed control, is applied to design the acceleration tracking autopilot for the portable missile. The D-K-D iteration with GEVP is utilized to optimize the performance index and obtain the control structure. Simulation results show that with the LPV/μ mixed control and LPV reference model being applied in the portable missile, deflection angle and deflection angular rate can be constrained to the reasonable limit at slow speed, and desired autopilot performance can be achieved in the full flight envelope and with some unmodelled dynamics. The design method is suitable and effective for the portable missile.