Robust Controller Initialization for Switching Flight Control of Tiltrotor

For the transient performance improvement of linear switched system in tracking control, the method of initializing the switching controller state was used and a simple way to achieve the controller reset map was proposed by minimizing the performance index of the closed-loop outputs. The input-to-state stability of the closed-loop switched system was proved by using multi-Lyapunov functions, and the asymptotical stability condition of the switched system including the initialized controller state was given. Taking the tiltrotor longitudinal model as an example, choosing some nominal state equilibrium points, several robust controllers were designed for each subsystem, and the control system performance by controller states optimal initialized and zero-initialized was compared. The result shows that the transient performance of the switched system is improved by optimal initialized controller states at the switching time.