四旋翼飞行器模型参考自适应容错控制

Fault Tolerant Control of Quad-Rotor UAV Based on MRAC

针对四旋翼飞行器执行器发生故障同时存在扰动时的姿态控制问题,设计了一种基于模型参考自适应(MRAC)的容错控制器。通过分析四旋翼飞行器的动力学特性,将执行器故障以加性因子的形式加入系统模型中,得到执行器故障下的动力学模型。所设计控制器的自适应律由参考模型和执行器故障下的模型的误差信号驱动,可实现较好的姿态控制。利用Lyapunov的分析方法证明了所设计控制器的渐进稳定性,最后在Matlab下进行了仿真实验。仿真结果表明,系统能克服扰动且在执行器故障下可良好地跟踪参考姿态角,验证了该算法的可行性和有效性。

To the attitude control problem of the quad-rotor Unmanned Aerial Vehicle（ UAV） with actuator malfunction and external perturbations,a Fault Tolerant Control（ FTC） controller was designed based on the model reference adaptive control. By analyzing the dynamic characteristics of the quad-rotor UAV,the actuator failures were added to the system model,and a dynamic model with failed actuator was obtained.The adaptive law of the designed controller was driven by the error signal of the reference model and the model with actuator failure,which can achieve better attitude control. The asymptotical stability of the proposed controller was proved by using Lyapunov method. The result of simulation with Matlab showed that,the proposed controller can track the reference attitude angle in the cases of external perturbations and actuator failures,and the method is feasible and effective.