基于鲁棒故障诊断LPV模型的舰载QUAV跟踪控制  

Tracking control of ship borne quad-roto UAV based on robust fault diagnosis LPV model

作　　者：朱威[1] 马伟明[1] 阳习党[1] 肖欢[1] ZHU Wei;MA Weiming;YANG Xidang;XIAO Huan(National Key Laboratory for Vessel Integrated Power System Technology, Naval University of Engineering,Wuhan 430033,China)

机构地区：[1]海军工程大学舰船综合电力技术国防科技重点实验室,湖北武汉430033

出　　处：《系统工程与电子技术》2018年第11期2540-2546,共7页Systems Engineering and Electronics

基　　金：国家青年基金(51407189;51407191)资助课题

摘　　要：设计适用于外部干扰抑制的无人机鲁棒故障检测与跟踪控制系统。首先,将舰载四旋翼直升机(quad-roto unmanned aerial vehicle,QUAV)建模为线性变参数系统(linear variable parameter system,LPVs),作为目标来进行系统设计。同时,为了进行故障检测和隔离,设计了一个强大的LPVs观测器,利用一组可行线性矩阵不等式(linear matrix inequalities,LMI)给出保证系统渐近稳定和抗干扰鲁棒性的充分条件。此外,基于LMI区域的极点配置考虑观测器的增益设计。然后,通过观测器库考虑故障检测和隔离方案,检测和隔离传感器故障。其次,通过考虑比较器集成控制方案对反馈控制器进行设计。目标是设计鲁棒控制器,使QUAV无偏差跟踪设定位置。最后,通过在模拟模型中,对算法的有效性进行实验验证。This paper aims to design a robust fault detection and tracking control system for unmanned aerial vehicles(UAVs).Firstly,the quad-roto unmanned aerial vehicle(QUAV)is modeled as a linear variable parameter system(LPV),which is used as a target for system design.In order to detect and isolate faults,a robust LPVs observer is designed.By using a set of feasible linear matrix inequalities(LMI),sufficient conditions for the system to be asymptotically stable and robust to disturbance rejection are given.Moreover,based on the pole assignment of the LMI region,the gain design of the observer is taken into account.Then,an observer library is used to consider fault detection and isolation schemes to detect and isolate sensor faults.Secondly,the feedback controller is designed by considering the comparator integrated control scheme.The objective is to design a robust controller that allows the QUAV to follow the set position with no deviation.Finally,the effectiveness of the proposed algorithm is experimentally verified in the simulation model.

关 键 词：鲁棒控制 故障诊断 线性变参数系统模型 四旋翼无人机 跟踪控制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]