四旋翼无人机鲁棒补偿容错飞行控制  

Robust Compensation Fault Tolerant Flight Control of Quadrotor Unmanned Aerial Vehicles

作　　者：杜喜昭 杜凯育 荣梦杰 张景榕 阎坤 DU Xizhao;DU Kaiyu;RONG Mengjie;ZHANG Jingrong;YAN Kun(College of Engineering,Xi’an International University,Xi’an 710077,China;School of Electronic Information Engineering,Xi’an University of Technology,Xi’an 710021,China)

机构地区：[1]西安外事学院工学院,西安710077 [2]西安工业大学电子信息工程学院,西安710021

出　　处：《西安工业大学学报》2024年第2期147-158,共12页Journal of Xi’an Technological University

基　　金：陕西省科技厅重点研发计划项目(2022GY-243);西安市科技局高校人才服务企业项目(22GXFW0045)。

摘　　要：针对同时存在外界未知干扰和执行器失效故障的四旋翼无人机系统,文中基于区间观测器技术提出了一种基于故障补偿思想的鲁棒容错控制方法。同时考虑了未知扰动和执行器失效故障的对四旋翼无人机系统的影响,针对四旋翼无人机系统的扰动项,构造区间观测器进行估计,并结合估计值进行标称控制器设计,通过引入补偿项削弱了执行器失效故障对系统带来的不利影响,依据反步控制的基本框架完成了四旋翼无人机鲁棒补偿容错控制器的设计。仿真结果表明,设计的容错控制器能够缓解干扰和故障对系统的不利影响,提高了四旋翼无人机的安全性能。In order to guarantee the safe flight of the quadrotor unmanned aerial vehicles(QUAV)with unknown external disturbance and actuator fault,the paper presents a robust compensation fault tolerant tracking control strategy based on interval observer technology.Firstly,the nonlinear system model of QUAV with unknown disturbance and actuator fault was established.Secondly,an interval observer was constructed to estimate the disturbance term of the QUAV system,and a nominal controller was designed based on the estimated values.The introduction of the compensation terms can weaken the adverse effects of actuator failure faults on the system.Finally,a robust compensation fault tolerant controller for the QUAV was developed based on the basic framework of backstepping control.The simulation results show that the fault tolerant controller developed in this paper can alleviate the adverse effects of disturbance and fault on the system and effectively improve the safety performance of QUAV.

关 键 词：自动控制 四旋翼无人机 区间观测器 执行器故障 反步控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]