基于积分滑模和ESO的四旋翼无人机容错控制  

Fault-Tolerant Control of Quadrotor UAV Based on Integral Sliding Mode Method and Extended State Observer

作　　者：刘高阳 郭玉英[1] 焦海林 LIU Gaoyang;GUO Yuying;JIAO Hailin(Southwest University of Science and Technology,Mianyang 621000,China)

机构地区：[1]西南科技大学,四川绵阳621000

出　　处：《电光与控制》2021年第8期6-10,16,共6页Electronics Optics & Control

基　　金：航空发动机高空模拟技术国防科技重点实验室创新基金(18zd9101)。

摘　　要：针对四旋翼无人机桨叶损伤故障的位置和姿态控制问题,设计一种基于积分滑模法和扩张状态观测器(ESO)的四旋翼无人机主动容错控制系统。建立了执行机构损伤故障下的无人机非线性模型,采用抗干扰能力较强的滑模控制法(SMC)设计姿态内环和位置外环基本控制器;为减小系统的稳态误差,引入积分环节,构造出积分滑模控制器;通过采用边界层方法,抑制滑模控制算法本身的抖振效应;利用ESO实时估计出系统的内、外总扰动和执行机构损伤干扰并对控制量进行补偿。李雅普诺夫稳定理论验证了该控制系统能够快速收敛达到稳定,数值仿真验证了所设计控制系统的有效性和鲁棒性。Based on integral sliding mode method and Extended State Observer(ESO)an active fault-tolerant control system is developed to implement position and attitude control of quadrotor UAV with actuator failure.A nonlinear model of UAV with actuator failure is establishedand a Sliding Mode Control(SMC)method with strong disturbance rejection ability is used to design basic controllers for the inner loop of attitude and the outer loop of position.In order to reduce the errors of the steady-state systeman integral sliding mode controller is constructed.The boundary layer method is used to suppress the chattering of SMC algorithmwhile ESO is used to estimate the total internal and external disturbances and the interference of actuator failure in real time and then compensate for the controlled variables.It is verified by Lyapunov stability theory that the flight control system can converge rapidly to a stable stateand the effectiveness and robustness of the developed flight control system are verified by some numerical simulations.

关 键 词：四旋翼无人机 执行器故障 积分滑模法 扩张状态观测器 容错控制 

分 类 号：TP272[自动化与计算机技术—检测技术与自动化装置]