考虑瞬态特性的无人机自适应容错控制设计  

Adaptive Fault-Tolerant Control Design for UAVs Based on Transient Characteristics

作　　者：吴鸣宇 姚雪莲 杨艺 刘宇飞 WU Mingyu;YAO Xuelian;YANG Yi;LIU Yufei(College of Mechanical Engineering,Jiangsu University of Technology,Changzhou 213001,China)

机构地区：[1]江苏理工学院机械工程学院,常州213001

出　　处：《南京航空航天大学学报》2023年第1期89-99,共11页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：国家自然科学基金(61903165);江苏省研究生科研与实践创新计划项目(XSJCX20_21,XSJCX21_50);江苏省大学生创新创业训练计划项目(202111463012Z)。

摘　　要：针对固定翼无人机纵向轨迹跟踪控制问题,基于反馈线性化和模型跟随控制设计基础控制器,实现无故障情况下闭环系统的稳定和轨迹渐近跟踪控制。考虑固定翼无人机的执行器可能发生不同类型及大小的故障,分别针对各种不同故障模式设计与之对应的补偿控制器。为综合解决执行器故障的多重不确定性问题,采用加权融合与自适应控制相结合的方式设计综合控制器结构,并对与故障相关的控制器参数进行估计。最后,通过在基础控制器设计中添加H_(∞)补偿项,以抑制故障补偿控制器参数估计误差对闭环系统输出跟踪性能造成的不利影响。理论分析和仿真结果表明,所提出的控制方案不仅能保证闭环系统的稳定性,而且在发生不确定执行器故障的情况下,固定翼无人机姿态控制系统输出能渐近跟踪给定的参考模型输出,通过设计适当的H∞补偿器参数可以改善故障补偿控制过程中的瞬态性能。To solve the longitudinal trajectory tracking control problem of fixed-wing unmanned aerial vehicles(UAVs),a basic controller is designed based on the feedback linearization and the model following control to achieve closed-loop system stability and trajectory asymptotic tracking control under normal conditions.Since the actuator of fixed wing UAVs may have different types and severities of faults,compensation controllers are designed according to different fault modes.In order to solve the multiple uncertainties of actuator faults comprehensively,an integrated controller structure is designed by combining the weighted fusion and the adaptive control,and the parameters of the controller related to the faults are estimated.Finally,H_(∞)compensation is added to the basic controller design to suppress the negative influence of the parameter estimation error of fault compensation controller on the output tracking performance of the closed-loop system.Theoretical analysis and simulation results show that the proposed control scheme not only can guarantee the stability of the closed-loop system.Under the condition of actuator failures,the output of attitude control system of fixed wing UAVs can asymptotically track the output of a given reference model,and the transient performance during fault compensation control can be improved by designing proper parameters of H∞compensator.

关 键 词：固定翼无人机 执行器故障 反馈线性化 自适应控制 瞬态性能 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]