倾转式三旋翼无人机的自适应鲁棒容错控制
Adaptive robust fault tolerant control of the tilt tri-rotor unmanned aerial vehicle
摘要点击 63  全文点击 78  投稿时间:2019-03-22  修订日期:2019-07-19
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DOI编号  10.7641/CTA.2019.90172
  2020,37(4):784-792
中文关键词  三旋翼无人机  容错控制  自适应控制  终端滑模控制
英文关键词  tri-rotor UAV  stuck fault  fault tolerant control  adaptive control  terminal sliding mode control
基金项目  国家自然科学基金
学科分类代码  
作者单位E-mail
王栋 天津大学  
鲜斌 天津大学 xbin@tju.edu.cn 
中文摘要
      本文针对受到外界未知扰动和模型不确定性影响的倾转式三旋翼无人机, 研究了其在尾部舵机发生堵塞故障时的容错控制问题. 通过对倾转式三旋翼无人机姿态动力学特性的分析, 将尾部舵机堵塞故障加入到力矩解算方程中. 基于自适应反步法和非奇异终端滑模控制, 提出了一种不需要故障诊断的鲁棒容错控制设计. 利用基于Lyapunov 的分析方法证明了闭环系统的稳定性, 以及姿态误差的渐近收敛性质. 通过在三旋翼无人机半实物仿真平台的实时实验以及与滑模控制器的对比, 验证了该算法在无人机尾部舵机发生堵塞故障时, 对姿态运动具有较好的控制效果.
英文摘要
      This paper focuses on the fault tolerant control(FTC) design for a tilt tri-rotor unmanned aerial vehicle(UAV) with the rear servo''s stuck fault, which is affected by unknown disturbance and model uncertainties. After analyzing the nonlinear dynamic model of the tilt tri-rotor UAV, the rear servo''s stuck fault is added to the torque solution equation. The adaptive backstepping methodology is combined with the non-singular terminal sliding mode control to develop the nonlinear robust FTC without the need of a fault diagnosis mechanism. The Lyapunov-based analysis method is employed to prove the stability of the closed-loop system and the asymptotic convergence of the attitude error. Real-time experiments are implemented on a self-build hardware-in-loop-simulation(HILS) tri-rotor testbed and the contrast experimental results with the sliding mode controller show that the proposed algorithm has achieved good control performance for the tilt tri-rotor UAV against the rear servo''s stuck fault.