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针对存在外部扰动、模型不确定和执行器故障的无人机(UAV)姿态控制系统,提出了无人机姿态控制系统滑模动态面容错控制方法。首先,给出一个非线性的无人机姿态控制系统数学模型;然后,当无人机姿态控制系统出现执行器故障时,通过滑模控制项来抑制干扰,使滑模观测器具有鲁棒性,并给出自适应故障估计值,实现干扰与故障的解耦;最后,根据故障估计得出的信息,给出滑模动态面主动容错控制方法,并利用Lyapunov理论证明系统的稳定性,保证系统在执行器故障下能够渐近跟踪指令,使跟踪误差最终一致有界。利用仿真实例来验证所提容错控制律的有效性。
Aiming at UAV attitude control system with external disturbances, model uncertainties and actuator failures, a sliding surface dynamic fault tolerance control method for UAV attitude control system is proposed. First, a nonlinear mathematical model of UAV attitude control system is given. Then, when the UAV attitude control system has actuator failure, the sliding mode controller is used to suppress the interference and make the sliding mode observer robust Finally, based on the information obtained from the fault estimation, an active fault tolerant control method of sliding mode dynamic surface is given. The system stability is proved by Lyapunov theory to ensure that the system The actuator can be asymptotically tracked under actuator failure, so that the tracking error is eventually uniform and bounded. The simulation example is used to verify the validity of the proposed fault-tolerant control law.