基于多故障鲁棒滑模重构观测器的蜂群无人机主动容错控制  

Active fault tolerance control based on multi-fault robust sliding mode reconstruction observer for UAV swarming

作　　者：刘勇求[1] 刘晓峰[2] LIU Yongqiu;LIU Xiaofeng(Guangdong University of Science and Technology,Dongguan 523083,China;Aviation University Air Force,Changchun 130000,China)

机构地区：[1]广东科技学院,广东东莞523083 [2]空军航空大学,吉林长春130000

出　　处：《飞行力学》2023年第4期35-43,共9页Flight Dynamics

摘　　要：针对蜂群无人机多种故障并发情形,提出综合鲁棒滑模故障重构观测器的主动容错控制策略。首先,构建链式长-僚机编队蜂群无人机多故障并发模型;然后,将传感器故障向量引入增维向量建立广义系统,提出蜂群无人机鲁棒滑模故障重构观测器设计程式,引入线性矩阵不等式、自适应律等,给出观测器系数矩阵设计方案,确保蜂群无人机出现多未知故障、不确定扰动情形时,观测器状态重构误差快速收敛;最后,综合多故障同时重构程式给出蜂群无人机主动容错控制器设计方案,并通过仿真算例检验所提方法的有效性。To solve the problem of multiple faults of UAV swarm,the active fault tolerant control algorithm of multiple faults integrated with the robust sliding mode fault reconstruction observer is presented.Firstly,the multi-fault models of UAV swarm with leader-follower trajectory structure are built.Then,the sensor faults are taken as the extended vector to build the descriptor system.The design algorithms of sliding mode fault reconstruction observer for UAV swarm are provided,and the linear matrix inequalities and adaptive law are introduced,which is used for design law for matrices and genes of observer.Thus,when many unknown faults and disturbances occur in the UAV swarm,the state reconstructed error will be convergent rapidly.Finally,integrated with the simultaneous reconstruction formula,the design plan of active fault tolerance controller in UAV swarm is provided,and a numerical example is presented to demonstrate the effectiveness.

关 键 词：多故障 滑模观测器 故障重构 主动容错 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1