考虑输入输出受限的无人机自适应滑模容错控制

doi:10.3969/j.issn.1001-506X.2020.10.24

Abstract

Abstract:

An adaptive sliding mode attitude fault tolerant control method based on backstepping method for unmanned aerial vehicle (UAV) attitude control system under input and output constraints is proposed. In order to restrain the influence of the actuator failure and external interference, the adaptive and interference observer technology is used to achieve the dual interference suppression. The dynamic auxiliary system and barrier Lyapunov function is designed. It is proved that under the condition of the input saturation and state constraint, the control input signal can still effectively control the system. The closed-loop attitude control system can be stable in finite time and all signals are ultimately bounded. Finally, the performance simulation and comparative simulation of the attitude tracking problem of the small unmanned helicopter system are carried out. Simulation results show that the proposed fault-tolerant control method can effectively guarantee the effectiveness of the control system when the actuator fails, and the method has good performance.

Key words: auxiliary system, barrier Lyapunov function, double interference suppression, backstep control, sliding mode control

CLC Number:

TP273

Yan DING, Zhigang YU. Adaptive sliding mode fault tolerant control of UAV considering input and output constraints[J]. Systems Engineering and Electronics, 2020, 42(10): 2340-2347.

Figures/Tables 11

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Adaptive sliding mode fault tolerant control of UAV considering input and output constraints

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