系统工程与电子技术
• 制导、导航与控制 • 上一篇 下一篇
贺有智, 刘同其
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HE Youzhi, LIU Tongqi
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摘要:
针对四旋翼飞行器在飞行过程中会出现执行机构故障,提出了一种简单有效的容错控制方法,该方法是将积分反演控制技术与时延控制(time delay control,TDC)技术相结合得到的。采用积分反演控制方法设计基本控制器,在此基础上利用TDC技术的逼近能力来补偿执行机构可能出现的故障,该方法省去了在线的故障检测和估计,仅需要一步状态迭代即可,仿真结果表明该控制器对执行机构故障具有较强的鲁棒性。
Abstract:
For the quadrotor aircraft in flight may cause actuator failure, a simple and effective fault tolerant control method is proposed,which combines integral backstepping and time delay control (TDC) techniques. The basis control system is designed by the integral backstepping method, and the approaching capacity of TDC is used to compensate the actuator failure. Therefore, there is no need to detect and estimate the fault online, the unknown actuator fault can be estimated by using onestep previous state information by TDC. Finally, simulation results show that the controller has strong robustness to the actuator failure.
贺有智, 刘同其. 四旋翼飞行器时延积分反演容错控制[J]. 系统工程与电子技术, doi: 10.3969/j.issn.1001506X.2015.10.23.
HE Youzhi, LIU Tongqi. Time delay integral backstepping based fault tolerant#br# control of quadrotor aircraft[J]. Systems Engineering and Electronics, doi: 10.3969/j.issn.1001506X.2015.10.23.
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链接本文: https://www.sys-ele.com/CN/10.3969/j.issn.1001506X.2015.10.23
https://www.sys-ele.com/CN/Y2015/V37/I10/2341