基于模糊增益滑模四旋翼无人机自适应容错控制  

Adaptive Fault-Tolerant Control of Quadrotor UAV Based on Fuzzy Gain Sliding Mode

作　　者：任朝晖[1] 刘玉麟 姜泽宇 陈翔宇 REN Zhao-hui;LIU Yu-lin;JIANG Ze-yu;CHEN Xiang-yu(School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,China)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《东北大学学报（自然科学版）》2024年第2期209-216,共8页Journal of Northeastern University(Natural Science)

基　　金：中央高校基本科研业务费专项资金资助项目(N2103008).

摘　　要：针对四旋翼无人机执行器故障下的轨迹跟踪问题,提出一种基于模糊增益滑模的自适应容错控制方法.首先,针对直接控制通道利用自适应机构在线估计执行器故障并加以补偿,采用基于模糊增益的滑模控制器设计可调控制器以满足鲁棒性要求.针对间接驱动通道设计基于模糊增益的滑模控制器,从而实现无人机全通道的容错控制设计,该方法具有良好的容错能力的同时,能很好地抑制系统颤振,获得平滑的控制信号.最后,对四旋翼无人机在不同控制器下的轨迹追踪性能进行了对比仿真,结果表明,系统在故障以及扰动下具有良好的飞行性能.Aiming at the trajectory tracking task of quadrotor UAV under actuator malfunction,an adaptive fault-tolerant control method based on fuzzy gain sliding mode is proposed.Firstly,for the direct control channel,the adaptive mechanism is used to estimate and compensate for actuator faults and the sliding mode controller based on fuzzy gain is used to design the adjustable controller to meet the requirements of robustness.For the indirect drive channel,the sliding mode controller based on fuzzy gain is designed to achieve control of the UAV.This method has good fault-tolerant ability and it can suppress the system chatter and obtain smooth control signals.Finally,the tracking performance of the quadrotor UAV under different controllers is compared and simulated and the results show that the system has good flight performance in the presence of fault and interference.

关 键 词：四旋翼无人机 执行器故障 模糊控制 自适应控制 容错控制 

分 类 号：U666.1[交通运输工程—船舶及航道工程]