多四旋翼无人机鲁棒全局快速终端滑模编队容错控制

Fault-tolerant control of robust global fast terminal sliding mode formation for multi-quadrotor UAV

针对多四旋翼无人机编队飞行时领导者受外界环境干扰、建模耦合因素及执行器故障影响的问题,设计了一种基于扩张状态观测器的鲁棒全局快速终端滑模容错控制方法。通过建立带外部环境干扰和执行器故障的四旋翼无人机模型,使用扩张状态观测器来估计干扰、耦合因素和故障,利用鲁棒全局快速终端滑模容错控制器进行补偿控制。为了提高系统响应速度并减少抖振,在控制器设计中引入带有继电特性的连续函数。结合领导者-跟随者法和滑模控制理论设计编队协同控制器,确保无人机编队完成飞行任务。仿真结果表明该方法具有良好的容错性能。

A fault-tolerant control method of robust global fast terminal sliding mode based on an extended state observer is designed to address the issues of external environment interference, modeling coupling factors, and actuator faults affecting the leader of a multi-quadrotor UAV flying in formation. A quadrotor UAV model is constructed to incorporate external environment interference and actuator failure, which are estimated by an extended state observer. The extended state observer is used to evaluate the disturbances, coupling effects and faults. To compensate for these factors, a fault-tolerant controller of robust global fast terminal sliding mode is employed. In order to improve the system response speed and reduce buffeting, a continuous function with relay characteristics is introduced into the controller design. By combining the leader-follower method with the sliding mode control theory, a formation cooperative controller is designed to ensure the successful completion of flight task by the UAV formation. Simulation results demonstrate the excellent fault tolerance performance of the proposed method.