[1]郑佳静,李平.采用滑模观测器的四旋翼无人机执行器加性故障容错控制[J].华侨大学学报(自然科学版),2019,40(4):437-443.[doi:10.11830/ISSN.1000-5013.201810019]
　ZHENG Jiajing,LI Ping.Fault Tolerant Control of Actuator Additive Fault for Quadrotor Using Sliding Mode Observer[J].Journal of Huaqiao University(Natural Science),2019,40(4):437-443.[doi:10.11830/ISSN.1000-5013.201810019]
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采用滑模观测器的四旋翼无人机执行器加性故障容错控制()
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《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第40卷
期数:
2019年第4期
页码:
437-443
栏目:
出版日期:
2019-07-10

文章信息/Info

Title:
Fault Tolerant Control of Actuator Additive Fault for Quadrotor Using Sliding Mode Observer
文章编号:
1000-5013(2019)04-0437-07
作者:
郑佳静;  李平
华侨大学 信息科学与工程学院, 福建 厦门 361021
Author(s):
ZHENG Jiajing;  LI Ping
College of Information Science and Engineering, Huaqiao University, Xiamen 361021, China
关键词:
四旋翼无人机;  容错控制;  加性故障;  滑模观测器;  反步法
Keywords:
quadrotor;  fault tolerant control;  additive fault;  sliding mode observer;  backstepping method
分类号:
V249.122.3;TP302.8
DOI:
10.11830/ISSN.1000-5013.201810019
文献标志码:
A
摘要:
为了获得四旋翼无人机更好的飞行性能,在考虑外界干扰的情况下,基于滑模观测器对四旋翼无人机的执行器故障问题进行容错控制设计.首先,针对受干扰和发生执行器故障的四旋翼无人机进行建模;然后,设计一种滑模观测器重构故障信息,并实时估计外界扰动;最后,基于观测所得信号,采用反步法设计内环姿态控制器和外环位置控制器,实现故障容错和干扰补偿,保证四旋翼无人机稳定跟踪既定轨迹.仿真结果验证了所提方案的有效性.
Abstract:
In order to obtain better flight performance of quadrotor, considering the situation of external disturbance, fault tolerant control design was conducted based on sliding mode observer for the problem of quadrotor’s actuator fault. First, the model of quadrotor with the effects of disturbances and faults was built. Then, a kind of sliding mode observer was designed to reconstruct the fault information and estimate the external disturbances in real time. Finally, based on the obtained observation signals, the backstepping algorithm was used to design attitude controllers for the inner loop and the position controller for the outer loop to realize fault tolerance and disturbance compensation, which ensured that the quadrotor can track the desired trajectory stably. Simulation results proved the effectiveness of the proposed scheme.

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备注/Memo

备注/Memo:
收稿日期: 2018-10-09
通信作者: 李平(1981-),女,副教授,博士,主要从事非线性系统与先进控制、容错控制系统的研究.E-mail:pingping_1213@126.com.
基金项目: 国家自然科学基金资助项目(61603144); 福建省高校产学合作科技重大项目(2013H6016); 福建省自然科学基金资助项目(2018J01095); 华侨大学中青年教师科技创新资助计划项目(ZQN-PY509)
更新日期/Last Update: 2019-07-20