考虑输入输出受限的无人机自适应滑模容错控制  

Adaptive sliding mode fault tolerant control of UAV considering input and output constraints

作　　者：丁岩 于志刚[1] DING Yan;YU Zhigang(Electronic Engineering College, Heilongjiang University, Harbin 150080, China)

机构地区：[1]黑龙江大学电子工程学院,黑龙江哈尔滨150080

出　　处：《系统工程与电子技术》2020年第10期2340-2347,共8页Systems Engineering and Electronics

基　　金：黑龙江省自然科学基金(F2018024)资助课题。

摘　　要：针对存在执行器故障、控制输入饱和与状态约束的无人机(unmanned aerial vehicle,UAV)姿态控制系统,提出一种新的基于反步法的具有有限时间收敛的自适应滑模姿态容错控制方法。首先,为了抑制执行器故障以及外部干扰的影响,采用自适应和干扰观测器技术,实现对干扰的双重抑制。然后,设计动态辅助系统与障碍Lyapunov函数,证明在输入饱和与状态约束的条件下,闭环姿态控制系统可以在有限时间内稳定,且系统中所有信号最终是有界的。最后,对于小型无人系统的姿态跟踪问题进行性能仿真与对比仿真研究。仿真结果表明,所提出的容错控制方法能够保证在执行机构发生故障时控制系统的有效性,并且该方法具有良好的性能。An adaptive sliding mode attitude fault tolerant control method based on backstepping method for unmanned aerial vehicle(UAV)attitude control system under input and output constraints is proposed.In order to restrain the influence of the actuator failure and external interference,the adaptive and interference observer technology is used to achieve the dual interference suppression.The dynamic auxiliary system and barrier Lyapunov function is designed.It is proved that under the condition of the input saturation and state constraint,the control input signal can still effectively control the system.The closed-loop attitude control system can be stable in finite time and all signals are ultimately bounded.Finally,the performance simulation and comparative simulation of the attitude tracking problem of the small unmanned helicopter system are carried out.Simulation results show that the proposed fault-tolerant control method can effectively guarantee the effectiveness of the control system when the actuator fails,and the method has good performance.

关 键 词：辅助系统 障碍李雅普诺夫函数 干扰双重抑制 反步控制 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]