常规布局无人机自适应容错控制

Adaptive Fault-tolerant Control for Conventional Layout UAV

自从无人机问世以来,便越来越多地运用在军事与大众生活之中。在军用方面,无人机不仅在战争中发挥着重要作用,它带来的新兴作战理念和作战形式,也对未来战争产生深远影响;在民用方面,也被用于远程遥控、航遥勘测、航拍,公安防暴制暴等多方面。因为无人机的应用越来越深入,所以对无人机性能的要求也越来越高。工作中的无人机,由于工作环境的不确定性,尤其是恶劣空气或特殊任务要求,会经常受到自身故障的威胁,为了保证飞行质量,控制效果持续稳定,顺利完成任务,论文提出并设计了基于自适应律调节的无人机容错控制方法,并实现了对常规布局无人机的稳定控制。

Since the advent of drones,they have been increasingly used in military and public life. In the aspect of military,UAV not only plays an important role in war,but also has a profound impact on future war by bringing new operational concepts and forms. In civil areas,it is also used for remote control,aerial survey,aerial photography,police riot control and other aspects. It can be said that the application of uav is more and more in-depth,so the requirement of uav performance is more and more high.Due to the uncertainty of the working environment,especially the bad air or special mission requirements,working unmanned aerial vehicle(UAV)will be often threatened by its own fault,to ensure the quality of flight and control effect is stable,complete the task smoothly,this paper puts forward and designs the unmanned aerial vehicle(UAV)fault-tolerant control method based on adaptive law regulation,and implements the stability control of conventional layout unmanned aerial vehicle.