传感器故障的四旋翼无人机模糊自适应容错控制

Fuzzy Adaptive Fault-tolerant Control for Four-rotor Unmanned Aerial Vehicle Under Sensor Fault

针对四旋翼无人机(UAV)的传感器故障问题,提出了一种模糊自适应容错控制方法.首先建立了四旋翼UAV姿态故障模型,然后分别针对姿态角回路和角速度回路设计了模糊自适应容错控制律.在设计过程中,利用模糊系统估计不确定项,并针对参数向量设计了自适应律,最后对整个系统进行了稳定性分析.对比仿真实验表明:提出的模糊自适应容错控制律具有更优的响应速度和鲁棒性,能够准确跟踪指令信号,实现了包容传感器故障、转动惯量摄动以及外部干扰的容错控制.

Aiming at the sensor fault of four-rotor UAV,a fuzzy adaptive fault-tolerant control method is proposed.Firstly,the attitude fault model of four-rotor UAV is established,and then the fuzzy adaptive fault-tolerant control law is designed for attitude angle loop and angular velocity loop respectively.In the design process,the fuzzy system is used to estimate the uncertainty,and the adaptive law is designed for the parameter vector.Finally,the stability of the whole system is analyzed.The contrast simulation experiment results show that the proposed fuzzy adaptive fault-tolerant control law has better response speed and robustness,and can accurately track the command signal,which achieves fault-tolerant control including sensor fault,moment of inertia perturbation and external interference.