基于观测器的四旋翼无人机自适应容错控制  

Observer-Based Adaptive Fault-Tolerant Control of Quadrotor UAVs

作　　者：梁传福 陈伟东 李家伟 

机构地区：[1]江西理工大学电气工程与自动化学院,江西 赣州

出　　处：《国际航空航天科学》2024年第4期178-190,共13页Journal of Aerospace Science and Technology

摘　　要：本文提出了一种基于观测器的自适应滑模容错控制方法,用于四旋翼无人机在存在外部未知干扰、执行器存在加性故障和乘性故障条件下的稳定控制。该方法采用观测器实时监测系统中的外部干扰和加性故障,并设计自适应律来应对乘性故障,实现对故障的动态补偿。四旋翼无人机的控制策略采用内外环结构,其中内环姿态控制采用全局快速终端滑模控制,以确保在干扰作用下的快速收敛和全局稳定性;外环位置控制则通过积分滑模控制提高系统的抗干扰能力和跟踪精度。仿真结果表明,该方法在执行器故障和扰动条件下具有优异的容错性和鲁棒性,为无人机在复杂环境下的稳定飞行提供了有效保障。In this paper, an observer-based adaptive sliding mode fault-tolerant control method is proposed for the stable control of a quadrotor UAV in the presence of unknown external disturbances, additive faults and multiplicative faults in the actuator. The method employs an observer to monitor external disturbances and additive faults in the system in real time, and designs an adaptive law to cope with the multiplicative faults to realize dynamic compensation for the faults. The control strategy of the quadrotor UAV adopts an inner and outer loop structure, in which the inner loop attitude control adopts global fast terminal sliding mode control to ensure fast convergence and global stability under disturbances, while the outer loop position control improves the system’s anti-disturbance capability and tracking accuracy through integral sliding mode control. The simulation results show that the method has excellent fault tolerance and robustness under actuator failure and disturbance conditions, which provides an effective guarantee for the stable flight of UAVs in complex environments.

关 键 词：四旋翼无人机 观测器 自适应 滑模控制 容错控制 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]