无人机非确定性等价自适应容错飞行控制

Non-certainty-equivalent adaptive fault-tolerant flight control for unmanned aerial vehicles

中文关键词  无人机  非确定性等价  容错控制

英文关键词  unmanned aerial vehicle  non-certainty-equivalence  fault-tolerant control

中文摘要

      针对存在执行器复合故障的固定翼无人机跟踪控制问题, 本文提出一种基于非确定性等价原理的自适应容错飞行控制策略. 该策略能够有效地估计无人机纵向动态中执行器的失效及漂移故障, 保证故障发生后闭环系统的最优性能指标. 在自适应容错飞行控制设计中, 通过引入辅助系统并动态调节因子, 构造非确定性等价原理中偏微分方程的近似解, 以简化自适应律设计复杂度. 此外, 借助Lyapunov稳定性分析方法, 证明了在所设计的自适应容错控制器作用下闭环系统的稳定性. 最后, 仿真验证表明所设计的控制方法能够保证故障无人机的闭环系统性能.

英文摘要

      Aiming at the tracking control problem of fixed-wing unmanned aerial vehicles (UAV) with actuator compound faults, an adaptive fault-tolerant flight control scheme is developed based on the non-certainty-equivalence (NCE) principle in this paper. This scheme is capable of estimating the efficiency loss and drift faults in the longitudinal dynamics of UAV and ensuring the optimal index of the closed-loop system after the fault occurring. By introducing the auxiliary system and dynamical scaling factor, the approximating solution is constructed for the partial differential equation of the NCE principle, and the design complexity of the adaptive law is accordingly simplified. In addition, the stability of the closedloop system is proved by using the Lyapunov stability analysis method. Finally, simulation results show that the developed control scheme can ensure the closed-loop system performance of the UAV even under the fault occurs.