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攻击型无人机单侧发射或投放重型武器时,可将飞行控制系统看作是一个切换控制系统。针对常见的常值型和时变型两种执行器故障,提出了一种自适应观测器设计方法,同时结合状态反馈控制设计了容错控制器。通过Lyapunov函数推出了观测器的误差是关于故障界输入状态实际稳定的充分条件,通过平均驻留时间方法证明了切换控制系统是全局输入状态实际稳定的。某型攻击型无人机仿真实例表明,此方法能在准确估计故障大小的基础上,有效保持切换飞行控制系统的性能,应用前景十分广阔。
When unmanned attack vehicles launch or put heavy weapons on one side, the flight control system can be regarded as a switching control system. Aiming at the faults of two kinds of actuators, which are common and time-varying, a kind of adaptive observer design method is proposed. At the same time, fault-tolerant controller is designed with state feedback control. The observer error introduced by Lyapunov function is a sufficient condition for the input state of the fault condition to be stable. The average dwell time method is used to prove that the switching control system is actually stable in the global input state. A simulation example of an attack-type UAV shows that this method can effectively maintain the performance of the switching flight control system based on the accurate estimation of the fault size, and the application prospect is very broad.