具有执行器故障的四旋翼无人机自适应预定性能控制
作者:
作者单位:

燕山大学电气工程学院

作者简介:

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中图分类号:

TP273

基金项目:

国家重点研发计划(2019YFB1312104),国家自然科学基金项目(61603329),河北省自然科学基金(F2017203145)


Adaptive prescribed performance control of Quadrotor with unknown Actuator Fault
Author:
Affiliation:

School of Electrical Engineering Yanshan University

Fund Project:

National Key Research and Development Project (2019YFB1312104), National Natural Science Foundation of China (61603329),Natural Science Foundation of Hebei Province (F2017203145).

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    摘要:

    本文针对具有执行器故障的四旋翼无人机,提出了一种自适应预定性能控制方案。首先,基于内环姿态控制及外环位置控制的双闭环控制策略,将无人机系统解耦为位置子系统和姿态子系统。其次,设计了自适应控制方案,对存在的执行器故障参数进行自适应估计,有效地解决了执行器故障下无人机稳定控制问题。进一步,提出了一种预定性能控制策略,保证系统的暂稳态性能满足预先给定的性能指标。最后,通过仿真实例验证了所提出方法的有效性。

    Abstract:

    This paper investigates the adaptive prescribed performance control problem for quadrotor with actuator fault. First, based on the double closed-loop control strategy, which includes inner loop attitude control and outer loop position control, the quadrotor system is decoupled as position subsystem and attitude subsystem. Second, an adaptive control strategy is pro-posed to estimate the fault parameter of the actuator, with which the stabilization problem of quadrotor with actuator fault can be effectively solved. Furthermore, a prescribed performance control strategy is proposed to ensure that both the static and dynamic performance satisfies prescribed performance index. Finally, a simulation example is given to show the effective-ness of the proposed methods.

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历史
  • 收稿日期:2020-01-17
  • 最后修改日期:2020-05-26
  • 录用日期:2020-05-29
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