具有执行器故障的四旋翼无人机姿态容错控制

Fault-tolerant control of quadrotor UAV attitude system with actuator failure

针对受多源干扰影响且具有执行器故障的四旋翼姿态系统,研究了在姿态误差变化率未知情况下指令跟踪控制问题,结合高阶滑模观测器提出了一种基于预设性能的滑模自适应自耦PD容错控制策略。首先,构建带有外部干扰和执行器故障的四旋翼姿态动力学模型,并引入虚拟控制量进行姿态跟踪误差系统的三通道解耦;其次,使用高阶滑模观测器对各通道的跟踪误差变化率和集总扰动进行有限时间估计,并引入预设性能函数,使姿态角跟踪误差限定在预设边界内;最后,基于四旋翼无人机姿态系统模型设计了一种自耦PD容错控制律,并使用积分滑模面优化传统自耦PD速度因子,实现速度因子在线自适应,并采用Lyapunov分析方法证明了控制器的稳定性。仿真结果表明,所提控制方法具有良好的容错性能和抗干扰性能。

For a quadrotor attitude system with actuator faults and multi-source interference, the problem of the command tracking control with unknown attitude error rate is studied, and a sliding mode adaptive self-coupling PD fault-tolerant control strategy based on prescribed performance is proposed with a high-order sliding mode observer. Firstly, a quadrotor attitude dynamic model with external interference and actuator failure is constructed, and the virtual control is introduced to decouple the three-channel attitude tracking error system. Secondly, a high-order sliding mode observer is used to estimate the tracking error rate and lumped disturbance of each channel in finite time, and prescribed performance function is introduced to limit the attitude angle tracking error to a preset boundary. Finally, an adaptive self-coupling PD fault-tolerant control law is designed based on the attitude system model of the quadrotor UAV, and the traditional self-coupling PD speed factor is optimized by using the integral sliding mode surface to realize the online adaptive speed factor. The stability of the controller is proven using the Lyapunov analysis method. Simulation results show that the proposed control method has good fault-tolerant and anti-interference performance.