攻击型无人机切换控制系统容错算法研究  

Study on Fault-tolerant Control Algorithm of Switched System for Attack UAV

作　　者：钱默抒[1,2] 姜斌[1] 杨浩[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]南京航空航天大学无人机研究院,江苏南京210016

出　　处：《控制工程》2012年第2期346-350,共5页Control Engineering of China

基　　金：国家自然科学基金(91116018;61010121);南京航空航天大学基本科研业务费专项科研项目(NZ2012020);江苏省研究生创新基金(CXLX11-0199;CXZZ11-0214)

摘　　要：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。The attack UAV can be defined as a switched system when it strikes from its one side. A new scheme is proposed based on adaptive observer and fault-tolerant controller to solve the problems of constant and time-vary faults which cause degradation of perform- ance. By using Lyapunov function, a sufficient condition is given for input to state practically stability （ISpS） of observer error in terms of the boundary of fault, and then average dwell time is used to prove that the closed-loop switched system is ISpS. Finally, the UAV simulation results show that the proposed scheme can estimate fault exactly and keep the switched system ISpS effectively, and the ap- plying prospect will be positive.

关 键 词：无人机 切换系统 故障估计 容错控制 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]