四旋翼无人机ESO快速终端滑模容错控制  

Fast terminal sliding mode fault-tolerant control for quadrotor UAV using extended state observer

作　　者：许国富 李俊丽[1] 吴宇涵 XU Guofu;LI Junli;WU Yuhan(Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650504,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,云南昆明650504

出　　处：《陕西理工大学学报(自然科学版)》2025年第2期71-80,共10页Journal of Shaanxi University of Technology:Natural Science Edition

基　　金：昆明理工大学科技服务项目(KKF0202303309)。

摘　　要：针对带执行器故障的四旋翼无人机受复杂干扰影响下的轨迹跟踪问题,提出了一种基于扩张状态观测器(ESO)的快速终端滑模容错控制策略。首先,基于牛顿-欧拉方法建立了具有执行器故障的四旋翼无人机动力学模型;其次,基于双闭环控制结构,在位置环和姿态环分别设计了快速终端滑模控制器;然后,采用扩张状态观测器对四旋翼无人机所受的外部干扰影响和执行器故障所带来的影响进行集总观测并补偿;最后,利用Lyapunov函数证明了系统能够在有限时间内稳定。仿真实验表明,所提容错控制策略具有较好的动态响应性能、稳态控制精度及容错控制性能。For the trajectory tracking problem of a quadrotor UAV with actuator failure under the influence of complex disturbances,this paper proposes a fast terminal sliding mode fault-tolerant control strategy based on the extended state observer.Firstly,a dynamic model of a quadrotor UAV with actuator faults is established based on the Newton-Euler method.Secondly,the extended state observer is used to perform lumped observation and compensation for the external disturbance effects and actuator faults of the quadrotor UAV.Finally,based on a dual closed-loop control structure,fast terminal sliding mode controllers are designed in the position loop and attitude loop.Simulation experiments show that the proposed fault-tolerant control strategy has good dynamic response performance,steady-state control accuracy,and fault-tolerant control performance.

关 键 词：四旋翼无人机 执行器故障 扩张状态观测器 滑模控制 有限时间 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]