作动器故障下的无人机容错控制方法

在执行任务过程中,无人机的传感器、作动器等均可能出现故障。文章针对常规布局无人机的作动器故障,提出了 1种反步法和控制分配相结合的容错控制方法。首先,建立无人机数学模型,并对作动器故障进行分类和建模；然后,根据模型设计反步最优控制器和基于控制分配的容错控制器；最后,通过仿真验证表明,所设计的容错控制方法能够实现作动器故障下的姿态快速稳定控制,且稳定性好,基本无侧滑角,各操纵面均在约束范围内,达到容错控制要求。

Fault-Tolerant Control Method of UAV Under Actuator Fault

In the course of UAV flight, the sensors and actuators of the UAV may fail. A fault-tolerant control method combining reverse step method and control distribution is proposed to solve the actuator fault of conventional layout UAV. Firstly, the UAV mathematical model is established, and the actuator fault is classified and modeled. Secondly, the reverse step optimal controller and fault-tolerant controller based on control assignment are designed according to the model. Finally, through simulation verification, the experimental results show that the designed fault tolerant control meth-od can realize the fast and stable attitude control under the fault of the actuator, and the stability is good, basically no side-slip angle, and each control surface is within the constraint range, meeting the fault tolerant control requirements.