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针对四旋翼飞行器在飞行过程中存在执行机构故障和各种不确定因素的控制问题,提出了一种将时延控制技术与滑模控制技术相结合的鲁棒容错控制方法。该方法继承了滑模控制技术对干扰和模型参数摄动的鲁棒性,并且为了解决滑模控制器存在抖动的现象,引入一种基于PID的趋近律;同时,利用时延控制的逼近能力来补偿执行机构出现的故障,该方法省去了在线的故障检测和分离,而仅需要一步状态迭代。仿真结果表明,该容错控制器能很好的解决执行机构故障和模型参数不确定性等问题。
Aiming at the control problems of implementing agencies’ faults and various uncertain factors in the flight of four-rotor aircraft, a robust fault-tolerant control method combining delay control technology and sliding mode control technology is proposed. The method inherits the robustness of sliding mode control to perturbation and perturbation of model parameters. In order to solve the jitter problem of sliding mode controller, a method based on PID is introduced. At the same time, using the approximation of delay control The ability to compensate for actuator failures, which eliminates the need for online fault detection and separation, only requires one-step state iteration. The simulation results show that the fault-tolerant controller can solve the problems of actuator failure and model parameter uncertainty.