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首页> 外文期刊>International journal of system control and information processing >Fuzzy adaptive fault-tolerant controller design based on Nussbaum for nonlinear quadrotor UAV system with input saturation
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Fuzzy adaptive fault-tolerant controller design based on Nussbaum for nonlinear quadrotor UAV system with input saturation

机译：基于NUSSBAUM的非线性四轮压发电机UAV系统的模糊自适应容错控制器设计

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摘要

In this paper, an effective fuzzy adaptive fault-tolerant control (FTC) strategy is proposed for the six-DOF under-actuated model of a quadrotor UAV with actuator partial loss fault of effectiveness and saturation, accompanying with uncertain parameters and external disturbances. The hyperbolic tangent function is used to approximate the input saturation characteristics, and then transformed into the affine form of control input. For the unknown control gain caused by fault and saturation, Nussbaum technology is introduced to effectively avoid controller singularity problem. A fuzzy logic system is proposed to approximate the totally lumped unknown items resulted from uncertain parameters and external disturbances, besides faults and saturation. In the backstepping design process, the improved sliding mode filter and sliding mode control are respectively introduced to design fault-tolerant controllers for position and attitude dynamics to avoid the 'differential explosion' phenomenon and establish asymptotic stability. Simulation results demonstrate the power of the designed controllers.
机译：本文提出了一种有效的模糊自适应容错控制（FTC）策略，用于与致动器部分损耗故障的四分之一的六-TOF致动模型，伴随有效性和饱和度，伴随着不确定的参数和外部干扰。双曲线切线功能用于近似输入饱和度特性，然后转换为控制输入的仿射形式。对于由于故障和饱和导致的未知控制增益，引入NUSSBAUM技术以有效避免控制器奇异性问题。除了故障和饱和之外，提出了一种模糊逻辑系统以近似由不确定参数和外部干扰引起的完全集成的未知项目。在BackSteping设计过程中，分别引入改进的滑动模式滤波器和滑动模式控制，以设计容错控制器，以避免“差分爆炸”现象并建立渐近稳定性。仿真结果展示了设计的控制器的力量。

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