过驱动飞行器积分滑模容错控制方法

针对过驱动飞行控制系统中执行器故障时的协调分配问题,提出了一种基于积分滑模的容错飞行控制器设计方法.引入虚拟控制思想,构造了多执行器故障条件下飞行器层级结构控制的数学模型.运用小增益定理,推导了系统闭环稳定的充分条件,并基于线性矩阵不等式,建立了最优状态反馈的凸优化模型.以积分滑模面切换函数为变量,选取李雅普诺夫能量函数,设计了渐近稳定的积分滑模控制器.仿真结果表明,该方法可综合考虑执行器完好和故障时的控制效能,能够实现多操纵面容错飞行控制,具有较好的鲁棒性.

Integral sliding mode fault tolerant control for over-actuated vehicle

To solve the coordination and assignment problem of over-actuatated flight control system for the actuator failure,a fault tolerant flight control method based on integral sliding mode is proposed.Through introducing virtual control concept,aircraft hierarchy structure control mathematical model is constructed in the case of the redundancy actuator failure.This paper utilizes the small gain theorem to derive the stable sufficient condition of the closed loop system and establishes the convex optimization model with optimal state feedback via using the LMI optimization simultaneously.By taking the integral switching function of sliding surface as a variable and selecting the Lyapunov energy function,the design of integral sliding mode controller with the asymptotic stability is proposed.Simulation results show that this method considers comprehensively the control performance of the actuator with health and failure,achieves fault tolerant for flight control with more control surfaces and has good robustness.