执行器故障下四旋翼无人机自适应容错轨迹跟踪与姿态控制

Xinyue Hu, Yifang Fu, Yulu Huang, Ban Wang, Ni Li, You-min Zhang
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引用次数: 0

摘要

针对四旋翼无人机在执行器故障情况下的轨迹跟踪和姿态控制问题,提出了一种自适应滑模控制策略。首先,采用带级联控制结构的积分滑模控制方法构造标称控制器;然后,为了补偿执行器故障的不利影响,提出了一种自适应滑模控制策略,以保持理想的轨迹和姿态跟踪性能。最后,进行了一系列仿真试验,验证了自适应容错控制方法的能力和有效性。对比仿真结果验证了所提出的自适应容错控制策略的优越性和有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Adaptive fault-tolerant trajectory tracking and attitude control of a quadrotor UAV subject to actuator faults
In this paper, an adaptive sliding mode control strategy is proposed to achieve desired trajectory tracking and attitude control for a quadrotor unmanned aerial vehicle in the presence of actuator faults. Firstly, the nominal controller is constructed by using an integral sliding mode control method with a cascaded control structure. Then, to compensate for the adverse effect of actuator faults, an adaptive sliding mode control strategy is presented to maintain desired trajectory and attitude tracking performance. Finally, a series of simulation tests are carried out to verify the capabilities and effectiveness of the adaptive fault-tolerant control method. The comparative simulation results validate the benefits and effectiveness of the proposed adaptive fault-tolerant control strategy.
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