基于观测器的四旋翼容错控制及仿真研究  

Fault Tolerant Control and Simulation of Quadrotor Based on Adaptive Observer

作　　者：赵静 王鹏 丁筱茜 蒋国平 徐丰羽 孙雁飞 Zhao Jing;Wang Peng;Ding Xiaoqian;Jiang Guoping;Xu Fengyu;Sun Yanfei(College of Automation&College of Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing 210023,China;Jiangsu Engineering Lab for Iot Intelligent Robots(Iot Robot),Nanjing 210023,China)

机构地区：[1]南京邮电大学自动化学院、人工智能学院,江苏南京210023 [2]江苏省物联网智能机器人工程实验室,江苏南京210023

出　　处：《系统仿真学报》2022年第1期1-10,共10页Journal of System Simulation

基　　金：国家自然科学基金面上项目(51775284);江苏省重点研发计划(BE2018734);2020年江苏省研究生培养创新工程(SJCX20_0252);南京邮电大学校级自然科学基金(NY221076)。

摘　　要：针对四旋翼飞行器执行器故障的问题,提出了一种基于自适应观测器的积分反演滑模容错控制策略,以保证飞行器的安全性和可靠性。建立考虑执行器故障的四旋翼飞行器动力学模型;设计一种自适应故障估计观测器用来观测系统的状态和估计故障信息;采用积分反演和滑模控制相结合的方法分别设计姿态容错控制器和位置控制器,完成姿态和位置的轨迹跟踪。仿真结果表明:该控制策略能够在执行器故障的情况下快速精确跟踪期望信号。Focusing on the actuator fault of quadrotor,an integral backstepping sliding mode combined with adaptive observer is proposed to ensure the safety and reliability of the quadrotor.A dynamic model of the quadrotor with actuator fault are established.An adaptive observer is proposed to observe the state and estimate the actual value of the fault.The attitude fault tolerant controller and position controllers are designed by the method of integral backstepping combined with the sliding mode control to complete the trajectory tracking of attitude and position.The simulation results show that the control strategy can quickly and accurately track the desired signals during actuator fault.

关 键 词：四旋翼 执行器故障 自适应观测器 容错控制 积分反演 滑模控制 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] V279[自动化与计算机技术—计算机科学与技术]