四旋翼无人机的高度和姿态容错控制研究  

Fault-Tolerant Control of Altitude and Attitude for Quadrotor UAVs

作　　者：陆洪志 段富海[1] LU Hongzhi;DUAN Fuhai(School of Mechanical Engineering,Dalian University of Technology,Dalian 116000,China)

机构地区：[1]大连理工大学机械工程学院,辽宁大连116000

出　　处：《电光与控制》2023年第12期73-79,共7页Electronics Optics & Control

摘　　要：研究了四旋翼无人机执行器故障和外部干扰下的高度和姿态容错控制问题。首先,将执行器故障建模为螺旋桨推力定常效率损失(LoE),得到包含执行器故障的四旋翼无人机高度和姿态动力学模型;然后,基于积分终端滑模控制(ITSMC)设计了一种容错控制器,并结合自适应律对干扰进行估计和补偿,借助Lyapunov理论证明了闭环系统的稳定性;最后,数值仿真结果验证了所提出容错控制方案的有效性和鲁棒性。The fault-tolerant altitude and attitude control of a quadrotor UAV subjected to actuator faults and external disturbances is investigated.Firstly,the actuator faults are modeled as a constant Loss of Effectiveness(LoE)in the thrust generated by the propellers,and the dynamics UAV altitude and attitude models considering the actuator faults are obtained.Secondly,a fault-tolerant controller is designed based on the Integral Terminal Sliding Mode Control(ITSMC),and the disturbances are estimated and compensated for by using the adaptive law.Thirdly,the stability of the closed-loop system is proved by Lyapunov theory.Finally,numerical simulation results verify the effectiveness and robustness of the proposed fault-tolerant control scheme.

关 键 词：四旋翼无人机 执行器故障 积分终端滑模 容错控制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]