执行器故障下的四旋翼无人机位置与姿态控制  

Position and Attitude Control of a Quadrotor UAV under Actuator Faults

作　　者：池佳威 项瑞雯 Jiawei Chi;Ruiwen Xiang(School of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai)

机构地区：[1]上海理工大学机械工程学院,上海

出　　处：《建模与仿真》2025年第2期682-695,共14页Modeling and Simulation

摘　　要：本文探究了存在建模不确定性和外部扰动以及存在执行器故障情况下的轨迹跟踪控制问题,提出了一种基于径向基神经网络的模糊自适应容错控制策略。首先,引入虚拟控制量对四旋翼无人机系统进行解耦,使其转换为全驱动模型,以简化系统的数学模型,通过定义执行器故障函数,推导出四旋翼无人机执行器故障下的动力学模型,并利用径向基函数神经网络对未知非线性函数的逼近特性处理四旋翼无人机模型中的不确定性项和外部扰动。为了提高系统的收敛速度和稳定性,利用模糊逻辑系统处理所提出的滤波变量,从而优化系统控制器的设计。最后,根据李雅普诺夫候选函数设计自适应控制律和参数更新律,以确保本文所提控制算法的有效性和鲁棒性。通过MATLAB/Simulink仿真实验验证了所提出的模糊自适应容错控制策略的有效性。In this paper,the trajectory tracking control problem in the presence of modelling uncertainty and external perturbation as well as in the presence of actuator faults is explored,and a fuzzy adaptive fault-tolerant control strategy based on radial basis neural network is proposed.Firstly,a virtual control volume is introduced to decouple the quadrotor UAV system so that it is converted to an alldrive model in order to simplify the mathematical model of the system,the dynamics model of the quadrotor UAV under actuator failure is derived by defining the actuator failure function,and the approximation property of the radial basis function neural network on the unknown nonlinear function is used to deal with the uncertainty term and external perturbation in the quadrotor UAV model.In order to improve the convergence speed and stability of the system,a fuzzy logic system is used to handle the proposed filtering variables,thus optimizing the design of the system controller.Finally,the adaptive control law and parameter update law are designed based on the Lyapunov candidate function to ensure the effectiveness and robustness of the control algorithm proposed in this paper.The effectiveness of the proposed fuzzy adaptive fault-tolerant control strategy is verified by MATLAB/Simulink simulation experiments.

关 键 词：容错控制 轨迹跟踪 执行器故障 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]