致动器饱和与故障情况下四旋翼无人机的事件触发规定性能自适应模糊容错控制

IF 5.7 2区计算机科学 Q1 ENGINEERING, AEROSPACE

IEEE Transactions on Aerospace and Electronic Systems Pub Date : 2024-08-23 DOI:10.1109/TAES.2024.3448404

Changhui Wang;Wencheng Li;Mei Liang

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引用次数: 0

摘要

研究了具有执行器故障和饱和的四旋翼飞行器的事件触发预定性能自适应模糊容错控制跟踪策略。针对四旋翼AAV系统参数由于安装误差、螺旋桨误差等原因造成的不确定性，采用模糊逻辑系统对四旋翼AAV系统的未知不确定性进行逼近。为了保证跟踪误差达到预定的瞬态性能，采用了基于性能函数的误差变换方法和barrier Lyapunov函数。提出了努斯鲍姆增益技术，解决了执行器故障、饱和和事件触发机制的影响，其中提出了事件触发方案，解决了四旋翼AAV系统中计算和通信资源稀缺的问题。最后，仿真结果验证了采用该控制算法的四旋翼无人飞行器具有优越的跟踪性能。

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Event-Triggered Prescribed Performance Adaptive Fuzzy Fault-Tolerant Control for Quadrotor AAV With Actuator Saturation and Failures

This article investigates the event-triggered prescribed performance adaptive fuzzy fault-tolerant control tracking strategy for quadrotor autonomous aerial vehicles (AAV) with actuator failures and saturation. In view of the uncertainty of quadrotor AAV system parameters due to the installation errors, propeller errors, and so on, the fuzzy logic systems are adopted to approximate the unknown uncertainties of the quadrotor AAV system. To ensure that the tracking error achieves the preset transient performance, the error transformation method and barrier Lyapunov functions based on performance functions are adopted. Nussbaum gain technology is presented to solve the effects of actuator faults, saturation, and the event-triggered mechanism, in which the event-triggered scheme is proposed to solve the issue of scarce computing and communication resources in quadrotor AAV systems. Finally, the superiority tracking performance of the quadrotor AAV by using the proposed control algorithm is verified by simulation results.

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来源期刊

IEEE Transactions on Aerospace and Electronic Systems 工程技术-电信学

CiteScore

7.80

自引率

13.60%

发文量

433

审稿时长

8.7 months

期刊介绍： IEEE Transactions on Aerospace and Electronic Systems focuses on the organization, design, development, integration, and operation of complex systems for space, air, ocean, or ground environment. These systems include, but are not limited to, navigation, avionics, spacecraft, aerospace power, radar, sonar, telemetry, defense, transportation, automated testing, and command and control.