摘要
针对固定翼无人机定高盘旋路径跟踪控制问题,基于动态面自适应控制设计了期望路径与时间无关的参数化路径跟踪双环控制器。首先,考虑无人机偏航执行机构的乘性故障,引入滑模函数设计了内环姿态容错控制器;然后,考虑外界非线性时变有界扰动,通过RBF神经网络在线估计补偿未知非线性量;接着,引入一阶滤波器,解决了虚拟控制量求导导致的控制器复杂问题;最后,利用Lyapunov理论证明了算法的稳定性。仿真结果表明,所设计的算法能够实现执行器存在故障时的路径跟踪控制,控制误差收敛于有界值。
For the problem of the stackup path following control for fixed-wing UAV, based on adaptive dynamic surface control, a parameterized path following dual loop controller with expected path independent of time is designed. Firstly, considering the multiplicative failure of UAV yaw actuator, the sliding mode function is introduced to design the inner loop attitude fault tolerant controller. Secondly, considering the external nonlinear time-varying disturbance in complex flight environment, the RBF neural network is used to estimate and compensate online;the first-order filter is introduced in the algorithm design to solve the complex problem of controller caused by the derivative of virtual control value. Finally, the stability of the control algorithm is proved by Lyapunov theory. Simulation results show that the proposed algorithm can realize the path following control with actuator fault, and the error converges to a bounded value.
作者
刘荣华
刘树光
王欢
李伟
LIU Ronghua;LIU Shuguang;WANG Huan;LI Wei(Air Force Engineering University,XiJ an 710038,China;Second Military Representative Office of Air Force Equipment Department in Luoyang,Luoyang 471009,China)
出处
《飞行力学》
CSCD
北大核心
2021年第5期49-55,共7页
Flight Dynamics
基金
国家自然科学基金资助(61973253)
国防科技重点实验室基金资助(6142219200301)
航空科学基金资助(20155896025)。
关键词
无人机
路径跟踪
容错控制
动态面控制
自适应控制
UAV
path following
fault tolerant control
dynamic surface control
adaptive control
