无人机姿控系统鲁棒动态面容错控制设计

摘要

针对含有不确定和执行器故障的无人机姿态控制系统，提出了一种鲁棒自适应动态面容错控制方法。在设计中，首先提出由非线性阻尼技术抵消不确定性及外界干扰，然后设计一种基于自适应动态面控制方法的容错控制策略，保证无人机在出现未知执行器故障情况下，其闭环姿态控制系统是全局渐近稳定的，实现姿态输出对制导指令的容错跟踪。最后对所提出的容错控制方法进行了某无人机非线性姿态控制系统的仿真验证，结果表明了所提方法的有效性。%A robust adaptive dynamics surface fault tolerant control approach is developed for the attitude control systems of unmanned aerial vehicles (UAVs)with unknown actuator faults and uncertainties.Firstly, the nonlinear damping technique is introduced to eliminate the uncertainties and disturbances.Secondly,a fault tolerant control scheme based on adaptive dynamics surface control is constructed,which can guarantee the o-verall asymptotical stability of the closed-loop attitude control systems with unknown actuator faults and a good attitude tracking performance for the guidance command.Finally,simulation results are given to demonstrate the effectiveness of the developed fault tolerant control scheme.