四旋翼直升机姿态系统的直接自修复控制

Direct self-repairing control for four-rotor helicopter attitude systems

当四旋翼直升机执行器突发故障或突受干扰时,利用直接自修复控制技术,设计一种基于直接自适应滑模控制的四旋翼直升机姿控系统,使其在故障或干扰信息未知的情况下,仍能保持稳定并且跟踪上理想输出信号.系统的稳定性和跟踪性能是由Lyapunov稳定性定理来确保的,这体现在参数更新律的设计过程中.最后在3DOFhover实验平台上验证了该方法的有效性,同时将该方法与LQR方法作比较,进一步证明了所提算法的优越性.

We design an adaptive sliding mode tracking controller based on the direct self-repairing control for the four-rotor helicopter attitude system when unknown abrupt actuator fault or disturbance occurs.When any actuator of this four-rotor helicopter is abruptly damaged,this helicopter under faulty conditions can still track the desired output signal accurately without any exact information on that fault.The synthesis of the adaptation laws is based on Lyapunov stable principle so that the stability of the whole system and the convergence of the tracking error can be guaranteed.Finally,the effectiveness of the proposed method is validated by simulation on 3DOF hover.This method is also proved to be better than the LQR method through simulation.