Robust Adaptive Control Design for Rotorcraft Unmanned Aerial Vehicles Based on Sliding Mode Approach

This paper presents a nonlinear robust control design method for a generic rotorcraft unmanned aerial vehicle(RUAV). The control objective is to let the RUAV track some pre-defined time-varying position and heading trajectories. The proposed controller employs feedback linearization process to realize the dynamic decoupling control and applies adaptive sliding mode control to compensate for the parametric uncertainties and external disturbances. The global asymptotical stability is proved via stability analysis. Compared with the cascaded controller, the proposed controller demonstrates a superior tracking performance and robustness through numerical simulation in the presence of parametric uncertainties and unknown disturbances.

Application of Wavelets Transform to Fault Detection in Rotorcraft UAV Sensor Failure

This paper describes a novel wavelet-based approach to the detection of abrupt fault of Rotorcrafi Unmanned Aerial Vehicle （RUAV） sensor system. By use of wavelet transforms that accurately localize the characteristics of a signal both in the time and frequency domains, the occurring instants of abnormal status of a sensor in the output signal can be identified by the multi-scale representation of the signal. Once the instants are detected, the distribution differences of the signal energy on all decomposed wavelet scales of the signal before and after the instants are used to claim and classify the sensor faults.

基于Voronoi图-麻雀算法的中继无人机任务规划

复杂的战场环境中,战机稍纵即逝,因此在完成“情报侦察-摧毁打击”任务时,就需要快速衔接好侦察无人机、打击无人机及地面控制站,实现作战节点间信息的及时交互。提出了一种基于Voronoi图-麻雀(V-SSA)算法来解决无人机中继安全有效的分配部署问题。首先,介绍了研究的任务场景;其次,针对无人机中继节点部署问题进行数学建模,验证了基于Voronoi图-麻雀算法的无人机中继部署具体实现方法,该无人机中继节点部署方法利用V-SSA算法选择中继节点位置,保证中继无人机数量最少及距离重点目标最远为目标函数。仿真结果表明,上述中继部署方法能够有效地建立战场全局通信网络,并提高了中继无人机的自身安全防护。

液压旋翼飞行机械臂系统建模与控制方法

在旋翼飞行机器人上加装机械臂而得到一种新的飞行机器人系统,扩展了旋翼飞行机器人的应用范围。本研究将小型液压机械臂系统应用到已有的旋翼飞行机器人上,通过分析无人机与机械臂的运动耦合,得到悬停模式下液压旋翼飞行机械臂系统的整体动力学模型;用LQR控制器控制机械臂完成平面内摆动动作;将机械臂运动对机器人本体的影响作为扰动进行考虑,并采用鲁棒控制器来稳定旋翼飞行机器人悬停时的位姿。通过仿真验证了本文所述模型结构与控制策略的有效性。

3自由度旋翼飞行机械臂系统动力学建模与预测控制方法

旋翼飞行机械臂(rotorcraft aerial manipulator,RAM)系统是安装在飞行机器人上的可操作型机械臂,悬停模式下执行准确的空中操作时旋翼无人机与所加机械臂之间存在相对扰动,通过分离机械臂与飞行机器人进行动力学建模并不能有效消除这种扰动.本文基于对相互扰动力学作用的分析建立整体动力学模型,并在悬停飞行模式下将其简化为线性控制参考模型.进而对旋翼系统控制延时所引起的动力学扰动进行补偿,同时设计预测控制器来消除末端执行器的位置和姿态误差.最后,在存在内部和外部扰动的情况下,设定销钉插入操作任务进行控制方法的对比仿真.末端执行器位姿偏差的仿真结果表明了模型结构与控制方法的有效性.