四旋翼飞行器位姿容错控制  

Position and attitude fault tolerant control for a quadrotor

作　　者：陈胜强 谢慕君[1] CHEN Shengqiang;XIE Mujun(School of Electrical&Electronic Engineering,Changchun University of Technology,Changchun 130012,China)

机构地区：[1]长春工业大学电气与电子工程学院,吉林长春130012

出　　处：《长春工业大学学报》2018年第1期31-38,共8页Journal of Changchun University of Technology

基　　金：国家自然科学基金资助项目(61374051)

摘　　要：基于四旋翼飞行器工作原理,考虑陀螺效应和空气阻力影响,建立了四旋翼飞行器高度及姿态的动态数学模型。针对执行器加性故障下飞行器高姿态控制,建立了恒值有界故障模型,设计了积分反演控制器,并且利用Lyapunov分析方法证明了控制器的渐近稳定性。Based on quadrotor principle,a dynamic model of the altitude and attitude is established considering frictions due to the aerodynamic torques and gyroscopic effects.For the fixed height and attitude control under actuator adding faults,a constant bounded fault model is built with an integral back-stepping controller.The asymptotic stability of the proposed controller is proved by the Lyapunov stability analysis method.

关 键 词：四旋翼 积分反演 执行器故障 容错控制 

分 类 号：TP271.72[自动化与计算机技术—检测技术与自动化装置]