四旋翼无人机INDI容错控制稳定性分析与仿真  

Stability analysis and simulation of INDI fault-tolerant control forquadcopter unmanned aerial vehicles

作　　者：吴金遥 赵金星[1] 李晨 吴文浩 WU Jinyao;ZHAO Jinxing;LI Chen;WU Wenhao(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《农业装备与车辆工程》2025年第2期107-112,共6页Agricultural Equipment & Vehicle Engineering

摘　　要：四旋翼无人机的执行机构一旦发生故障就易发生坠毁,导致重大经济损失并对地面行人的安全构成严重威胁。为此,应用增量式非线性动态逆INDI实现无人机的容错控制,分析INDI控制器在空气动力学扰动下的稳定性,并通过搭建仿真平台对控制器的性能进行半物理仿真测试。结果表明,INDI容错控制在执行器故障和有空气动力学扰动情况下仍然能够悬停和跟踪期望轨迹,从而避免坠毁和人员伤亡。基于INDI的无人机容错控制和稳定性分析,以及所构建的无人机控制半物理仿真,可以为无人机控制算法研究和验证方法提供参考。Crashes of quadrotor UAVs can occur in the event of actuator failure,which can lead to significant economic losses and pose a serious threat to the safety of pedestrians on the ground.Incremental nonlinear dynamic inverse(INDI)was applied to achieve fault-tolerant control of UAVs,the stability of INDI controller under aerodynamic perturbations was analysed,and the performance of the controller was tested in semi-physical simulation by building a simulation platform.The results showed that the INDI fault-tolerant control was still able to hover and track the desired trajectory in the presence of actuator failures and aerodynamic perturbations,thus could avoid crashes and casualties.The INDI-based fault-tolerant control and stability analysis of UAVs and the constructed semi-physical simulation verification platform for UAV control can provide a reference for UAV control algorithm research and verification methods.

关 键 词：四旋翼无人机 增量非线性动态逆 空气动力学扰动 稳定性分析 半物理仿真 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]