多执行器故障条件下植保无人机的自适应鲁棒容错控制

Adaptive robust fault‑tolerant control of plant protection unmanned aerial vehicle with multiple actuator faults

针对多执行器故障条件下难以保证植保无人机的高度与姿态的准确控制问题,提出一种多执行器故障条件下植保无人机自适应鲁棒容错控制算法。在建立植保无人机高度、姿态动力学模型和执行器故障模型的基础上,基于非线性back‑stepping自适应控制原理,设计一种无需故障检测和隔离机制的非线性高度和姿态自适应容错控制器。通过容错控制器的自适应性保证多个执行器故障下植保无人机在高度与姿态上的跟踪控制性能,利用鲁棒控制保证系统在建模不确定性条件下的稳定性。结果表明,在单执行器故障条件下植保无人机的高度和姿态跟踪的最大误差分别为0.13 m和[±3.26°±2.71°±1.16°],在多执行器故障条件下植保无人机的高度和姿态跟踪的最大误差分别为0.21 m和[±3.11°±4.75°±3.07°],本文方法能够有效保证植保无人机的高度和姿态跟踪的跟踪性能,且跟踪误差渐近收敛。

Aiming at the altitude and attitude control problem of plant protection unmanned aerial vehicle under actuator fault condition,an adaptive robust fault‑tolerant control algorithm for plant protection unmanned aerial vehicle is proposed.Based on the establishment of the altitude dynamics model,attitude dynamics model and actuator fault model,according to the principle of nonlinear back‑stepping adaptive control,a robust fault‑tolerant controller for altitude and attitude adaptive controller without fault detection and isolation mechanism is designed.The self‑adaptability of the fault‑tolerant controller guarantees the tracking control performance of height and attitude under multiple actuator faults,and the stability of the system under modeling uncertainties is guaranteed by robust control.The results showed that under the condition of single actuator fault,the maximum error of height and attitude tracking of plant protection UAV were 0.13 m and[±3.26°±2.71°±1.16°],respectively.Under the condition of multi‑actuator failure,the maximum error of height and attitude tracking of plant protection UAV is 0.21 m and[±3.11°±4.75°±3.07°],respectively.The proposed method can effectively ensure the height and attitude tracking performance of the plant protection unmanned aerial vehicle,and the tracking error asymptotically converges.