基于观测器的四旋翼无人机故障诊断方法

Fault diagnosis method for QUAV based on observer

针对具有非线性项和扰动的四旋翼无人机系统,提出一种基于中间观测器的故障诊断算法,该算法不仅能估计系统的状态,而且能同时对无人机的执行器故障、传感器故障和扰动进行估计。首先,为便于处理传感器故障和扰动,对原系统进行增广;其次,引入一个中间变量,对增广后的系统设计中间观测器,利用该观测器可以得到系统状态、故障和扰动的估计,并采用Lyapunov函数证明了误差系统一致最终有界;最后,通过四旋翼无人机系统的仿真,验证了本文提出的方法可以很好地估计出故障和扰动。

Aimied at the quadrotor unmanned aerial vehicle(QUAV)system with nonlinear terms and disturbance,this paper proposes an intermediate observer-based fault diagnosis algorithm,which can estimate not only the state of the system,but also the UAV's actuator faults,sensor faults and disturbance at the same time.Firstly,the original system is augmented in order to facilitate the handling of sensor fault and disturbance.Secondly,an intermediate variable is introduced,and an intermediate observer is designed for the augmented system,and the system state,fault and disturbance can be estimated by using this observer,the error system is proved to be uniformly eventually bounded using Lyapunov function.Finally,the simulation of the QUAV system verifies that the method proposed in this paper can estimate the faults and disturbance well.