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首页> 外文期刊>Aerospace science and technology >Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers
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Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

机译：滑模扰动观测器驱动的四旋翼容错增量滑模控制

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This paper proposes an Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers (INDI-SMC/SMDO), with application to a quadrotor fault tolerant control problem. By designing the SMC/SMDO based on the control structure of the sensor-based Incremental Nonlinear Dynamic Inversion (INDI), instead of the model-based Nonlinear Dynamic Inversion (NDI) in the literature, the model dependency of the controller and the uncertainties in the closed-loop system are simultaneously reduced. This allows INDI-SMC/SMDO to passively resist a wider variety of faults and external disturbances using continuous control inputs with lower control and observer gains. When applied to a quadrotor, both numerical simulations and real-world flight tests demonstrate that INDI based SMC/SMDO has better performance and robustness over NDI based SMC/SMDO, in the presence of model uncertainties, wind disturbances, and sudden actuator faults. Moreover, the implementation process is simplified because of the reduced model dependency and smaller uncertainty variations of INDI-SMC/SMDO. Therefore, the proposed control method can be easily implemented to improve the performance and survivability of quadrotors in real life. (C) 2019 Elsevier Masson SAS. All rights reserved.
机译：本文提出了一种由滑模扰动观测器（INDI-SMC / SMDO）驱动的增量滑模控制，并将其应用于四旋翼容错控制问题。通过基于传感器的增量式非线性动态反演（INDI）的控制结构设计SMC / SMDO，而不是文献中基于模型的非线性动态反演（NDI），控制器的模型相关性和不确定性同时减少了闭环系统。这使INDI-SMC / SMDO使用具有较低控制和观察者增益的连续控制输入，可以被动地抵抗各种各样的故障和外部干扰。当应用于四旋翼飞机时，数值模拟和实际飞行测试均表明，在存在模型不确定性，风扰和突然的执行器故障的情况下，基于INDI的SMC / SMDO比基于NDI的SMC / SMDO具有更好的性能和鲁棒性。此外，由于减少了模型依赖性，并且INDI-SMC / SMDO的不确定性变化较小，因此简化了实现过程。因此，所提出的控制方法可以很容易地实现，以提高四旋翼飞机在现实生活中的性能和生存能力。 （C）2019 Elsevier Masson SAS。版权所有。

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