四旋翼无人机的自适应容错控制

Adaptive Fault-Tolerant Control for Quadrotor UAV

针对四旋翼无人机执行机构部分失效故障和传感器偏差问题,为了可靠,安全、稳定的飞行,采用自适应容错控制策略.当无人机飞行时,利用二阶卡尔曼滤波器在线快速估计状态、检测执行器故障和传感器偏差,当执行器故障检测和诊断出来后,将故障因子视为自适应因子,用来调节自适应容错控制器的参数,使故障影响变小,同时估计传感器的偏差,如有偏差,则将偏差部分补偿给输出信号.在Matlab实验平台上对所提方法的可行性和有效性进行仿真验证,结果表明四旋翼无人机执行机构在发生部分失效故障和传感器偏差时,采用自适应容错控制策略,输出信号能够快速跟踪参考输入信号,实现了对四旋翼无人机的容错控制.

In view of the problem of the actuator’s partial failure and sensor deviation of the quadrotor UAV,an adaptive fault-tolerant control strategy is adopted for reliable,safe and stable flight.When the UAV is flying,the second-order Kalman filter is used to quickly estimate the status on the line and detect the actuator fault and sensor deviation.After fault detection and diagnosis,the fault factor is considered as an adaptive factor to adjust the adaptive fault tolerance.The parameters of the controller make the influence of the fault smaller,and at the same time estimate the deviation of the sensor.If there is a deviation,the deviation is compensated to the output signal.Simulation and verification of the feasibility and effectiveness of the proposed method are carried out on the matlab experimental platform.The results show that the adaptive fault-tolerant control strategy is used when the actuator of the four-rotor UAV has partial failure and sensor deviation.The output signal can quickly track the reference input signal and achieve fault-tolerant control of the quadrotor UAV.