基于自适应反步法的无人机容错控制  

Fault-Tolerant Control of Aircraft Based on Adaptive Backstepping

作　　者：董亮[1] 丁甜甜 霍焱 DONG Liang;DING Tiantian;HUO Yan(School of Information Engineering,Shenyang University,Shenyang 110044,China)

机构地区：[1]沈阳大学信息工程学院,辽宁沈阳110044

出　　处：《沈阳大学学报（自然科学版）》2023年第4期319-325,共7页Journal of Shenyang University：Natural Science

基　　金：中国博士后科学基金资助项目(2020M680979);辽宁省自然科学基金资助项目(2021-BS-281)。

摘　　要：针对四旋翼飞行器控制系统执行器发生乘性故障的问题,基于自适应反步法设计了容错控制器。针对“X”型飞行器进行动力学建模,将四旋翼飞行器的数学模型分为姿态角通道和高度通道。对这2个通道分别建立一系列自适应律来在线估计故障因子,以补偿执行器故障给系统带来的影响,实现无人机系统的容错控制。通过MATLAB仿真实验,验证了这种基于反步法的自适应容错控制的有效性。A fault-tolerant controller was designed based on the adaptive backstepping method for aircraft systems with multiplicity actuator failures.The dynamics modeling of the“X”aircraft was carried out,and the mathematical model of the quadcopter was divided into attitude angle channel and altitude channel.For these two channels,a series of adaptive laws were established to estimate the fault factor online to compensate for the impact of actuator failure on the system and realize the fault-tolerant control of the UAV system.Without knowing the actuator fault boundary information,the resulting closed-loop system was gradually stabilized.Through MATLAB simulation experiments,the effectiveness of this adaptive fault-tolerant control based on backstepping method was verified.

关 键 词：四旋翼飞行器 反步法 自适应控制 容错控制 执行器故障 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置]