SLIDING MODE PREDICTION FAULT-TOLERANT CONTROL METHOD BASED ON WHALE OPTIMIZATION ALGORITHM

摘要

A novel fault-tolerant control method for sliding mode prediction based on whale optimization algorithm is designed for fault-tolerant control of quad-rotor aircraft system with discrete time-delay uncertainties. The whole process sliding surface is used as the prediction model to ensure the global robustness, and a power function reference trajectory with fault compensation is designed to suppress the influence of chattering and suppress the uncertainty and fault. In the process of rolling optimization, considering the high-precision and fast response of the optimization process, the whale optimization algorithm is adopted, which has strong optimization performance, less parameter setting, fast convergence and high precision. The simulation shows that the algorithm has good effects in terms of robustness, weakening of chattering, and convergence speed.