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首页> 外文期刊>International Journal of Control, Automation, and Systems >Dynamic Surface Active Fault Tolerant Control Design for the Attitude Control Systems of UAV with Actuator Fault
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Dynamic Surface Active Fault Tolerant Control Design for the Attitude Control Systems of UAV with Actuator Fault

机译：具有执行器故障的无人机姿态控制系统的动态表面主动容错控制设计

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摘要

In this paper, an active fault tolerant control (FTC) approach based on transient performance index is proposed for the attitude control systems of unmanned aerial vehicle (UAV) with actuator fault. The nonlinear attitude control system model for UAV with actuator faults is given, which represents the dynamic characteristics of UAV. A fault diagnosis component is used for fault detection and estimation. According to the fault estimation information obtained during the fault diagnosis, the fault tolerant control scheme is developed by adopting the adaptive dynamic surface control technique, which guarantees the asymptotic output tracking and ultimate uniform boundedness of the closed-loop attitude control systems of UAV in actuator faulty case. Further, a prescribed transient performance of the FTC attitude control systems is considered which characterizes the convergence rate and maximum overshoot of the attitude tracking error. Finally, simulation results are shown that the attitude control system states remain bounded and the output tracking errors converge to a neighborhood of zero.
机译：本文针对具有执行器故障的无人机姿态控制系统，提出了一种基于暂态性能指标的主动容错控制方法。给出了带有执行器故障的无人机的非线性姿态控制系统模型，该模型代表了无人机的动态特性。故障诊断组件用于故障检测和估计。根据故障诊断中获得的故障估计信息，采用自适应动态表面控制技术开发了容错控制方案，保证了无人机在执行器中的闭环姿态控制系统的渐近输出跟踪和最终均匀有界性。错误的情况。此外，考虑了FTC姿态控制系统的规定的瞬态性能，该性能表征了姿态跟踪误差的收敛速度和最大过冲。最后，仿真结果表明姿态控制系统的状态保持有界，并且输出跟踪误差收敛到零附近。

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