中文摘要：

以一类偏航一俯仰二自由度框架结构为研究对象，探讨执行元件存在输出饱和的条件下此类不确定系统的最优镇定问题．在框架动力学模型的基础上，分析了基座角运动、结构耦合和惯性不平衡力矩等干扰因素对系统动力学特性的影响．针对干扰条件下执行元件非线性饱和导致的稳定性问题，基于线性矩阵不等式组的凸优化方法，得到了镇定系统的状态反馈矩阵的最优值，为设计稳定的导引头回路控制系统提供了理论依据．仿真结果表明，最优反馈控制器对该类系统中的结构不确定性、饱和非线性和外界干扰力矩等因素具有较强的鲁棒性．

英文摘要：

This paper discussed the optimal feedback stabilization problem of a yaw-pitch gimbaled system with structure uncertainties, actuator saturation and disturbance torques in its control channels. The influence modes of platform angular motion, kinematics ~ geometrical coupling and unbalance moments on system dynamics were analyzed from the perspective of gimbal dynamics. Optimal feedback controllers were synthesized by means of Linear Matrix Inequalities （LMIs） and convex optimization to prevent the system from the instability caused by disturbance torques and actuator saturation. Simulation results prove the ro- bustness of the derived optimal feedbaek controllers against system uncertainties, actuator saturation and disturbance torques.