输入受限下的四旋翼无人机鲁棒容错控制

Robust Fault-Tolerant Control for Quad-Rotor UAVs with Input Constraints

针对四旋翼无人机(UAV)在输入受限情况下的执行器故障和干扰问题,提出了一种鲁棒容错控制方法。首先建立了包含执行器故障、输入受限以及外界干扰的四旋翼UAV位置模型和姿态模型;然后分别对位置环和姿态环进行了分析,采用滑模滤波器对虚拟控制指令滤波,并利用模糊系统逼近法估计出不确定项,设计了鲁棒容错控制律;最后证明了位置环和姿态环的稳定性。仿真实验结果表明:提出的鲁棒容错控制方法能够在输入受限下快速准确跟踪指令信号,与积分滑模容错控制律相比具有更好的控制效果,实现了包容执行器故障和外界干扰的全状态鲁棒容错控制。

A robust fault-tolerant control method is proposed for the quad-rotor Unmanned Aerial Vehicle(UAV)under input constraints with actuator failure and disturbances.Firstly the position model and attitude model of quad-rotor UAV including actuator fault input constraints and external interference are established.Then the position loop and attitude loop are analyzed respectively and the virtual control command is filtered by sliding mode filter.The uncertainty is estimated by fuzzy system approximation method and the robust fault-tolerant control law is designed.Finally the stability of the position loop and the attitude loop is proved.The simulation results show that the proposed robust fault-tolerant control method can quickly and accurately track the command signal under input constraints and has better control effects than integral sliding mode fault-tolerant control law which realizes the full-state robust fault-tolerant control including actuator fault and external interference.