多四旋翼无人机编队自适应容错控制  

Adaptive fault-tolerant control of multi-quadcopter UAV formation

作　　者：王君[1] 李昂 WANG Jun;LI Ang(College of Electrical and Information Engineering,Lanzhou Univ.of Tech.,Lanzhou 730050,China)

机构地区：[1]兰州理工大学电气工程与信息工程学院,甘肃兰州730050

出　　处：《兰州理工大学学报》2024年第4期69-76,共8页Journal of Lanzhou University of Technology

基　　金：国家自然科学基金(61463030)。

摘　　要：针对四旋翼无人机在编队控制时受到执行器故障的影响,引起无人机之间跟踪误差的问题,而传统PID控制的固定参数无法适用于四旋翼无人机面临复杂的环境,因此设计了模糊自适应PID容错控制器以及多无人机的滑模协同控制器.首先,针对执行器故障无人机进行系统建模,给定领导无人机的参考轨迹,通过设计的模糊自适应PID控制器使得执行器故障的无人机跟踪给定轨迹.其次,基于滑模控制理论,设计编队协同控制器,控制Follower无人机与Leader无人机之间的距离误差趋近于零,实现期望的编队队形.最后,通过仿真实验对比结果表明,所设计方法超调量小,鲁棒性强,对四旋翼无人机有较好的控制效果.Aiming at the problem that the quadrotor UAV is affected by the actuator failure during formation control and the resultant tracking errors between UAVs,the fixed parameters controlled by the traditional PID cannot be applied to the complex environmental challenges faced by the quadrotor UAV.Consequently,a Fuzzy adaptive PID fault-tolerant controller and a sliding mode cooperative controller for multiple UAVs are devised.Firstly,the system model of UAV with Actuator Failure is established,with a reference trajectory set for the leading UAV.Through the designed fuzzy adaptive PID controller,the UAV experiencing actuator failures is guided to track the specified trajectory.Secondly,based on the sliding mode control theory,a formation cooperative controller,the controller is designed to make the distance error between the follower UAV and the leader UAV close to zero,achieving the desired formation.Finally,the comparison results of simulation experiments show that the proposed method exhibits minimal overshoot and strong robustness,thereby yielding a favorable control effect on the quadrotor UAV.

关 键 词：四旋翼无人机 执行器故障 模糊自适应PID控制 编队协同控制 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]