具有执行器故障的四旋翼无人机有限时间容错控制  

Finite-time fault tolerant control of quadrotor UAV with actuator faults

作　　者：张思洁 吴怀宇 郑秀娟[1,2] ZHANG Si-jie;WU Huai-yu;ZHENG Xiu-juan(Institute of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan Hubei 430081,China;Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education,Wuhan Hubei 430081,China)

机构地区：[1]武汉科技大学机器人与智能系统研究院,湖北武汉430081 [2]冶金自动化与检测技术教育部工程研究中心,湖北武汉430081

出　　处：《控制理论与应用》2023年第7期1270-1276,共7页Control Theory & Applications

基　　金：国家自然科学基金项目(62073250,62003249,62173262)资助。

摘　　要：本文主要研究了四旋翼无人机在外部干扰、执行器存在部分失效和偏置故障并发情况下有限时间轨迹跟踪的控制问题.通过分析四旋翼无人机动力学特性,本文构建了带有外部干扰、执行器机构故障的动力学模型.首先,基于鲁棒全局快速终端滑模控制算法,设计了一种有限时间容错控制器,提高了系统对故障的响应速度.其次,针对常值/时变故障和干扰,在控制器设计中采用改进的连续函数进行补偿,减少了由切换函数引起的系统抖振问题,并基于Lyapunov函数对控制器的稳定性进行了分析.最后,通过仿真实验验证了所设计控制器的有效性和可靠性,同时,在存在执行器故障和外部干扰的情况下,无人机能够实现较好的轨迹跟踪性能.This article focuses on the control problem of finite-time trajectory tracking of quadrotor UAV in the case of external interferences,and both partial and bias fault of actuators.By analyzing the dynamic characteristics of quadrotor UAV,the dynamic model with external interferences and actuator faults is constructed.Based on the robust global fast terminal sliding mode control algorithm,a finite-time fault-tolerant controller is designed to improve the response speed of the system to the fault.Secondly,for constant/time-varying faults and disturbances,the improved continuous function is used for compensation in the controller design,which reduces the problem of the system chattering caused by switching function,and the stability of the controller is analyzed based on the Lyapunov function.Finally,the effectiveness and the reliability of the designed controller are verified by simulation experiments,and the UAV can achieve better trajectory tracking performance under the condition of actuator failures and external interferences.

关 键 词：容错控制 快速终端滑模控制 无人机 执行器故障 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程] V249.1[航空宇航科学与技术—飞行器设计]