具有飞行包线限制的飞翼无人机鲁棒自适应容错姿态控制  

Robust Adaptive Fault-tolerant Attitude Control of Flying-wing UAVs with Flight Envelope Constraints

作　　者：禹志龙 李颖晖[1] 裴彬彬 徐文丰 段效聪 宋可鑫 YU Zhilong;LI Yinghui;PEI Binbin;XU Wenfeng;DUAN Xiaocong;SONG Kexin(Aviation Engineering School,Air Force Engineering University,Xi'an 710038,Shaanxi,China;Unit 94657 of PLA,Jiujiang 332024,Jiangxi,China;Unit 95034 of PLA,Baise 533699,Guangxi,China)

机构地区：[1]空军工程大学航空工程学院,陕西西安710038 [2]94657部队,江西九江332024 [3]95034部队,广西百色533699

出　　处：《兵工学报》2024年第1期231-240,共10页Acta Armamentarii

摘　　要：为实现复杂环境下飞翼无人机姿态的精确跟踪控制,考虑参数不确定性、外部扰动、执行器故障及飞行包线限制的影响,提出一种基于Nussbaum增益的鲁棒自适应容错控制方法。在受扰动的飞翼无人机姿态运动学与动力学模型基础上考虑执行器故障与系统不确定的影响,建立面向控制的姿态控制模型。通过引入时变障碍Lyapunov函数,在保证飞行包线限制的同时确保姿态跟踪误差的瞬态与稳态性能。通过自适应的有界估计与Nussbaum增益,补偿总的不确定项与执行器故障的影响。通过稳定性分析严格证明新提出的控制方法的可行性。仿真结果表明,新的控制方法能够确保飞行包线限制,同时保证预设的瞬态与稳态性能,实现飞翼无人机高精度的姿态跟踪控制。To realize the accurate attitude tracking control of flying-wing UAVs in complex circumstances,a robust adaptive fault-tolerant control method based on Nussbaum gain is proposed considering the effects of parameter uncertainties,external disturbances,actuator failures and flight envelope constraints.Based on the disturbed kinematic and dynamic models of a flying wing UAV,a control-oriented attitude control model is developed considering the effects of actuator faults and system uncertainties.The flight envelope constraints and the transient and steady-state performances of attitude tracking errors are ensured by introducing a time-varying barrier Lyapunov function.Then,the effect of lumped uncertainty term and the actuator faults are compensated by adaptive bounded estimation and Nussbaum gain.Finally,the feasibility of the proposed control method is critically demonstrated though stability analysis.The simulated results show that the proposed control method is able to achieve the high-precision attitude tracking control of the flying-wing UAV.

关 键 词：飞翼无人机 飞行包线限制 NUSSBAUM增益 自适应控制 容错控制 

分 类 号：V249[航空宇航科学与技术—飞行器设计]