具有执行器故障的四旋翼无人机自适应预定性能控制

Adaptive prescribed performance control of quadrotor with unknown actuator fault

针对具有执行器故障的四旋翼无人机,提出一种自适应预定性能控制方案.首先,基于内环姿态控制及外环位置控制的双闭环控制策略,将无人机系统解耦为位置子系统和姿态子系统;其次,设计自适应控制方案,对存在的执行器故障参数进行自适应估计,有效地解决了执行器故障下无人机稳定控制问题;然后,提出一种预定性能控制策略,保证系统的暂稳态性能满足预先给定的性能指标;最后,通过仿真实例验证所提出方法的有效性.

This paper investigates the adaptive prescribed performance control problem for quadrotors with actuator fault.Firstly,based on the double closed-loop control strategy,which includes inner loop attitude control and outer loop position control,the quadrotor system is decoupled as the position subsystem and the attitude subsystem.Then,an adaptive control strategy is proposed to estimate the fault parameter of the actuator,with which the stabilization problem of the quadrotor with actuator fault can be effectively solved.Furthermore,a prescribed performance control strategy is proposed to ensure that both the static performance and dynamic performance satisfy prescribed performance index.Finally,a simulation example is given to illustrate the effectiveness of the proposed methods.