四旋翼无人机时延模糊自抗扰容错控制

针对四旋翼无人机系统执行器故障问题,为改善飞行控制系统性能,提出一种时延模糊自抗扰容错控制。首先,根据四旋翼无人机系统非线性数学模型和执行器故障模型,选择模糊自抗扰控制器作为基准控制器,在未发生执行器故障的情况下,使飞行控制系统保持稳定;其次,在发生执行器故障的情况下,利用时延控制技术估计故障信息,并与模糊自抗扰控制相结合,实现容错控制;最后,对所研究的容错控制算法进行数值仿真分析,仿真结果表明:把时延控制与模糊自抗扰控制相结合,能有效调节执行器故障,使飞行控制系统对故障产生的干扰具有良好的鲁棒性。

Fault-Tolerant Control of Quadrotor UAV Based on Fuzzy Active Disturbance Rejection Control and Time Delay Control

In order to solve the problems of time-delay and actuator fault of quadrotor Unmanned Aerial Vehicle(UAV) and improve the performance of flight control system,a fault-tolerant control algorithm based on time-delay control and fuzzy Active Disturbance Rejection Control (ADRC) is developed.Firstly,the nonlinear mathematical model and the actuator fault model of the quadrotor UAV were established and the fuzzy active disturbance rejection controller was selected as the baseline controller to stabilize the flight control system without actuator failure.Then,in the case of actuator failure,the delay control was developed to estimate the fault information,and combined with fuzzy-ADRC to achieve fault-tolerant control.Finally,some simulation results demonstrate the developed fault-tolerant control scheme.The proposed fault-tolerant control algorithm has good performance in disturbances rejection and actuator fault accommodation.