基于故障观测器的无人机直接自修复控制

提出一种基于故障观测器的无人机直接自修复控制。首先,根据系统本身存在的故障,设计了一个非线性故障观测器对其进行观测。其次,设计了一个快速终端滑模面和直接自修复控制器,将指数函数和符号函数引入到新型滑模面里。同时引入了自适应技术,对不确定的故障估计其上界。最后,通过对无人机进行了相应的仿真数值验证得出所提方法的有效性。

Direct Self-repairing Control for UAV Based on Fault Observer

In this paper, a novel direct self-repairing controller via fault observer is designed, which addresses tracking control and convergence rate problem of UAV. Firstly, a nonlinear fault observer is designed to diagnose the UAV's fault. Secondly, a novel method based on the newly fast terminal sliding mode is designed. An adaptive approach is adopted to estimate upper bound of the fault. Finally, several numerical simulation results have shown the satisfactory control performance.