考虑输入输出受限的无人机自适应滑模容错控制

doi:10.3969/j.issn.1001-506X.2020.10.24

摘要/Abstract

摘要：

针对存在执行器故障、控制输入饱和与状态约束的无人机(unmanned aerial vehicle, UAV)姿态控制系统,提出一种新的基于反步法的具有有限时间收敛的自适应滑模姿态容错控制方法。首先,为了抑制执行器故障以及外部干扰的影响,采用自适应和干扰观测器技术,实现对干扰的双重抑制。然后,设计动态辅助系统与障碍Lyapunov函数,证明在输入饱和与状态约束的条件下,闭环姿态控制系统可以在有限时间内稳定,且系统中所有信号最终是有界的。最后,对于小型无人系统的姿态跟踪问题进行性能仿真与对比仿真研究。仿真结果表明,所提出的容错控制方法能够保证在执行机构发生故障时控制系统的有效性,并且该方法具有良好的性能。

关键词: 辅助系统, 障碍李雅普诺夫函数, 干扰双重抑制, 反步控制, 滑模控制

Abstract:

An adaptive sliding mode attitude fault tolerant control method based on backstepping method for unmanned aerial vehicle (UAV) attitude control system under input and output constraints is proposed. In order to restrain the influence of the actuator failure and external interference, the adaptive and interference observer technology is used to achieve the dual interference suppression. The dynamic auxiliary system and barrier Lyapunov function is designed. It is proved that under the condition of the input saturation and state constraint, the control input signal can still effectively control the system. The closed-loop attitude control system can be stable in finite time and all signals are ultimately bounded. Finally, the performance simulation and comparative simulation of the attitude tracking problem of the small unmanned helicopter system are carried out. Simulation results show that the proposed fault-tolerant control method can effectively guarantee the effectiveness of the control system when the actuator fails, and the method has good performance.

Key words: auxiliary system, barrier Lyapunov function, double interference suppression, backstep control, sliding mode control

中图分类号:

TP273

丁岩, 于志刚. 考虑输入输出受限的无人机自适应滑模容错控制[J]. 系统工程与电子技术, 2020, 42(10): 2340-2347.

Yan DING, Zhigang YU. Adaptive sliding mode fault tolerant control of UAV considering input and output constraints[J]. Systems Engineering and Electronics, 2020, 42(10): 2340-2347.

图/表 11

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

图11

参考文献 25

1	郁一帆, 王磊. 无人机技术发展新动态[J]. 飞航导弹, 2019, 49 (2): 34- 42.
	YU Y F , WANG L . New developments in drone technology[J]. Aerodynamic Missile Journal, 2019, 49 (2): 34- 42.
2	FU L, XIE F H, WANG D Z, et al. The overview for UAV air-combat decision method[C]//Proc.of the IEEE 26th Chinese Control and Decision Conference, 2014: 3380-3384.
3	BOUCHERP . Domesticating the drone: the demilitarisation of unmanned aircraft for civil markets[J]. Science and Engineering Ethics, 2015, 21 (6): 1393- 1412. doi: 10.1007/s11948-014-9603-3
4	吴建端. 国内外无人机规制的新近发展态势[J]. 中国应用法学, 2019, 3 (6): 41- 64.
	WU J D . Recent developments in drone regulations at home and abroad[J]. China Review of Administration of Justice, 2019, 3 (6): 41- 64.
5	HAN Y , BIGGS J D , CUI N . Adaptive fault-tolerant control of spacecraft attitude dynamics with actuator failures[J]. Journal of Guidance, Control and Dynamics, 2015, 38 (10): 2033- 2042. doi: 10.2514/1.G000921
6	XING X J, MA Z, CHEN X, et al. Fault-tolerant flight control of quad-rotor UAV based on sliding mode theory[C]//Proc.of the 30th Chinese Control and Decision Conference, 2018: 298-303.
7	CAO T , GONG H J , HAN B . Sliding mode fault tolerant attitude control scheme for spacecraft with actuator faults[J]. Transactions of Nanjing University of Aeronautics and Astronautics, 2019, 36 (1): 123- 131.
8	ZHOU Z P, GAO Z F, XU Y F, et al. Fault tolerant attitude control design for rigid satellite using sliding mode observer technique[C]//Proc.of the IEEE Chinese Guidance, Navigation and Control Conference, 2016: 160-165.
9	CAO L J , TANG Y , ZHANG G . Adaptive observer-based fault detection and active tolerant control for unmanned aerial vehicles attitude system[J]. IFAC-PapersOnline, 2019, 52 (24): 47- 52. doi: 10.1016/j.ifacol.2019.12.379
10	LAN J L , PATTON R J , ZHU X Y . Integrated fault-tolerant control for a 3-DOF helicopter with actuator faults and saturation[J]. IET Control Theory and Applications, 2017, 11 (14): 2232- 2241. doi: 10.1049/iet-cta.2016.1602
11	郝伟, 鲜斌. 四旋翼无人机姿态系统的非线性容错控制设计[J]. 控制理论与应用, 2015, 32 (11): 1457- 1463.
	HAO W , XIAN B . Nonlinear fault tolerant control design for quadrotor unmanned aerial vehicle attitude system[J]. Control Theory and Technology, 2015, 32 (11): 1457- 1463.
12	翟丽相, 钱默抒, 刘剑慰. 无人机姿态控制系统滑模动态面容错控制方法[J]. 系统仿真技术, 2017, 13 (3): 65- 70.
	ZHAI L X , QIAN M S , LIU J W . Fault-tolerant control scheme of sliding mode dynamic surface for UAV attitude control system[J]. System Simulation Technology, 2017, 13 (3): 65- 70.
13	QIAN M S , JIANG B , LIU H H . Dynamic surface active fault tolerant control design for the attitude control systems of UAV with actuator fault[J]. International Journal of Control Automation and Systems, 2016, 14 (3): 723- 732. doi: 10.1007/s12555-015-0020-4
14	QIAN M S , JIANG B , LIU H H , et al. Dynamic surface fault tolerant tracking control design for UAV with transient performance[J]. IFAC-PapersOnline, 2015, 48 (21): 208- 213. doi: 10.1016/j.ifacol.2015.09.529
15	XU J , XU J X . A barrier composite energy function approach for robot manipulators under alignment condition with position constraints[J]. International Journal of Robust and Nonlinear Control, 2014, 24 (17): 2840- 2851. doi: 10.1002/rnc.3028
16	魏青铜, 陈谋, 吴庆宪. 输入饱和与姿态受限的四旋翼无人机反步姿态控制[J]. 控制理论与应用, 2015, 32 (10): 87- 95.
	WEI Q T , CHEN M , WU Q X . Backstepping-based attitude control for a quadrotor UAV with input saturation and attitude constraints[J]. Control Theory and Technology, 2015, 32 (10): 87- 95.
17	XU J . Adaptive fault tolerant control for a class of input and state constrained MIMO nonlinear systems[J]. International Journal of Robust and Nonlinear Control, 2016, 26 (2): 286- 302. doi: 10.1002/rnc.3312
18	XU J , KWONG R H S . Adaptive fault tolerant control for a class of MIMO nonlinear systems with input and state constraints[J]. Proceedings of the American Control Conference, 2015, 28 (7): 2254- 2259.
19	LAN J L , PATTON R J , PUNTA E . Fault-tolerant tracking control for a 3-DOF helicopter with actuator faults and saturation[J]. IFAC-PapersOnline, 2017, 50 (1): 5250- 5255. doi: 10.1016/j.ifacol.2017.08.465
20	MEI R , CUI Q L . Backstepping control for a 3DOF model helicopter with input and output constraints[J]. International Journal of Advanced Robotic Systems, 2017, 14 (1): 1- 17.
21	易旺民, 郑昱, 刘辛军, 等. 考虑输入饱和和状态受限的九索并联机构自适应容错控制[J]. 机械工程学报, 2018, 54 (21): 15- 24.
	YI W M , ZHENG Y , LIU X J , et al. Adaptive fault tolerant control for a parallel mechanism driven by nine cables with input saturation and full-state constrains[J]. Journal of Mechanical Engineering, 2018, 54 (21): 15- 24.
22	ZHONG Z, GE S S. Trajectory tracking control of a miniature autonomous helicopter with input and output constraints[C]//Proc.of the IEEE International Conference on Cybernetics, Intelligent Systems, Robotics, Automation and Mechatronics, 2017: 387-392.
23	容睿智, 赵党军, 梁步阁, 等. 四旋翼无人机姿态稳定性能控制仿真研究[J]. 计算机仿真, 2018, 35 (4): 24- 28.
	RONG R Z , ZHAO D J , LIANG B G , et al. Study on control simulation for quad-rotor unmanned aerial vehicle attitude stability[J]. Computer Simulation, 2018, 35 (4): 24- 28.
24	YURI S , CHRISTOPHER E , LEONID F , et al. Sliding mode control and observation[M]. Springer New York: Birkhäuser, 2014.
25	刘金琨. 滑模变结构控制MATLAB仿真:先进控制系统设计方法[M]. 3版北京: 清华大学出版社, 2015.
	LIU J K . Sliding mode variable structure control MATLAB Simulation: design methods for advanced control systems[M]. 3rd ed Beijing: Press of Tsinghua University, 2015.

[1]	罗世彬, 李晓栋, 王忠森, 徐骋. 并联式运载器上升段广义超螺旋有限时间控制[J]. 系统工程与电子技术, 2022, 44(5): 1626-1635.
[2]	唐骁, 叶继坤, 李旭. 三维非线性预设性能制导律设计[J]. 系统工程与电子技术, 2022, 44(2): 619-627.
[3]	郜中星, 彭斌, 陈小炜, 张勇刚. 振动陀螺椭圆参数的离散滑模控制[J]. 系统工程与电子技术, 2022, 44(1): 226-232.
[4]	张跃坤, 贾晓洪, 张晓阳, 王炜强. 基于有限时间收敛干扰观测器的探导控一体化设计[J]. 系统工程与电子技术, 2021, 43(5): 1326-1334.
[5]	郭佳晖, 蒋滨安, 田宗浩. 带有攻击角和视场角约束的制导炮弹导引律设计[J]. 系统工程与电子技术, 2021, 43(4): 1050-1056.
[6]	王成, 王旭刚. 高超声速制导炮弹终端滑模控制[J]. 系统工程与电子技术, 2020, 42(12): 2859-2866.
[7]	邓英杰, 张显库, 张国庆. 水面舰船动力定位系统ESO输入饱和控制[J]. 系统工程与电子技术, 2019, 41(5): 1110-1117.
[8]	杨新岩, 廖育荣, 倪淑燕. 滑模控制快速分段幂次趋近律设计与分析[J]. 系统工程与电子技术, 2019, 41(5): 1127-1132.
[9]	李桂英, 于志刚, 张扬. 带有角度约束的机动目标拦截协同制导律[J]. 系统工程与电子技术, 2019, 41(3): 626-635.
[10]	郑世钰, 艾晓琳, 杨迪, 贾振岳, 于剑桥. 基于积分反步法的四旋翼滑模轨迹跟踪算法[J]. 系统工程与电子技术, 2019, 41(3): 643-650.
[11]	毛柏源, 李君龙, 张锐. 考虑自动驾驶仪动态特性的多约束中制导律[J]. 系统工程与电子技术, 2019, 41(2): 382-388.
[12]	刘将辉, 李海阳, 杨路易, 陆林. 强迫绕飞无控旋转目标的控制策略[J]. 系统工程与电子技术, 2019, 41(10): 2310-2319.
[13]	雷虎民, 王业兴, 卜祥伟, 王华吉. 基于干扰观测器的导引头稳定平台滑模控制[J]. 系统工程与电子技术, 2018, 40(9): 2048-2054.
[14]	刘正华, 温暖, 祝令谱. 变体飞行器有限时间收敛LPV鲁棒控制[J]. 系统工程与电子技术, 2018, 40(6): 1325-1330.
[15]	王坚浩, 胡剑波, 张亮, 张鹏涛, 宋敏. 基于滑模干扰观测器的反演终端滑模飞行控制[J]. 系统工程与电子技术, 2018, 40(6): 1345-1350.