传感器故障下的三自由度直升机滑模控制方法

Sliding Mode Control for 3DOF Helicopter with Sensor Failure

综合考虑三自由度直升机系统中各自由度之间的关系,将直升机系统分解为驱动子系统和无驱动子系统,建立了相应的三自由度直升机数学模型,模型对可能存在的外部扰动和无驱动子系统传感器故障进行了描述。设计了非线性扩张干扰观测器消除外部扰动和传感器故障带来的不利影响,设计相应的高阶滑模控制器实现对驱动子系统的跟踪控制,并基于Lyapunov理论证明了系统的稳定性。最后通过实验验证了控制方案对存在传感器故障的三自由度直升机具有良好的控制效果。

In view of the relationship between each Degree of Freedom(DOF)of the 3DOF helicopter systemthe helicopter system is divided into an actuated subsystem and a non-actuated subsystem.The mathematical model of the 3DOF helicopter is establishedwhich depicts the possible external disturbances and sensor failures of the non-actuated subsystem.A nonlinear extended disturbance observer is designed to eliminate the adverse effects caused by external disturbances and sensor failuresand a high-order sliding mode controller is designed to realize tracking control of the actuated subsystem.The stability of the system is proved by Lyapunov theory.Finallythe experimental results illustrate that the control scheme has good effects on the 3DOF helicopter with sensor failures.