摘要
研究了基于滑模观测器的无人机防滑刹车系统执行机构故障的容错控制方法。在考虑外界不确定干扰的同时,对执行机构故障的防滑刹车系统进行建模,构造非线性滑模观测器,利用滑模等值原理重构出执行机构故障值。将重构出的故障引入补偿控制律设计中,并结合障碍李雅普诺夫函数反演方法设计容错控制律,使得输出滑移率保持在一定约束区间内,通过构造干扰自适应估计器,消除了未知干扰和模型不确定性对系统的影响,基于李雅普诺夫理论及相关原理证明了该闭环系统半全局一致最终有界,最后通过仿真验证了所提方法的有效性。
This paper develops a sliding mode observer-based fault-tolerant control method for actuator fault in UAV anti-skid braking system. The braking system is modeled in presence of nonlinear bias fault and external unknown disturbance. A sliding-mode observer is employed, meanwhile,the fault reconstruction law is designed by means of sliding-mode equivalent control methodology. A novel fault-tolerant control method of barrier Lyapunov function backstepping control, based on fault reconfignration information is proposed for preventing output from violating the constraint. Furthermore, the adaptive disturbance estimator is designed to achieve unknown external disturbance rejection. It is proved that the cloosed loop system is semiglobally uniformly bounded using Lyapunov theory. Finally, simulation results are provided to show the effectiveness of the proposed approach.
出处
《西北工业大学学报》
EI
CAS
CSCD
北大核心
2017年第3期355-363,共9页
Journal of Northwestern Polytechnical University
基金
国家自然科学基金(60974146
61473229)资助
关键词
反步
故障重构
李雅普诺夫函数
容错控制器
闭环控制
无人机
MATLAB
backstepping
fault reconstruction
Lyapunov function
tolerant-fault controller
closed loop control
unmanned aerial vechicles （UAV）
MATLAB
