无人机姿态控制系统滑模动态面容错控制方法  

Fault-Tolerant Control Scheme of Sliding Mode Dynamic Surface for UAV Attitude Control System

作　　者：翟丽相 钱默抒[2] 刘剑慰[1] ZHAI Lixiang QIAN Moshu LIU Jianwet(College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016 ,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]南京航空航天大学机械结构力学与控制国家重点实验室,江苏南京210016

出　　处：《系统仿真技术》2017年第3期246-251,共6页System Simulation Technology

基　　金：国家自然科学基金(61403195);江苏省自然科学基金(SBK2014042586);中央高校基本科研业务费专项资金(NJ20160051)

摘　　要：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。In this paper,a fault-tolerant control scheme of sliding mode dynamic surface is proposed for an attitude control systemof unmanned aerial vehicle（ UAV） with external disturbance and actuator fault. Firstly,the mathematical model of a nonlinear attitude control systemfor UAV is presented.Secondly,when the UAV attitude control systemappears actuator failure and disturbance,an adaptive fault estimation is obtained by a sliding mode observer. According to the estimated fault information,a dynamic surface active fault-tolerant control scheme is proposed. Lastly,the Lyapunov theory is used to prove the stability of the system,which ensures that the systemwith actuator failures can asymptotically track the instruction and the tracking error is ultimately uniformly bounded. A simulation example is given to verify the effectiveness of the proposed fault-tolerant control scheme.

关 键 词：无人机(UAV) 故障估计 滑模控制 主动容错控制 

分 类 号：V249.12[航空宇航科学与技术—飞行器设计]