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Robust fault-tolerant control method for small unmanned aerial vehicle flight control system

A technology for small unmanned aerial vehicles and flight control systems, which is applied in the field of robust fault-tolerant control and robust fault-tolerant control of uncertain discrete time-delay control systems to ensure global robustness, good robustness, and avoid slow convergence. Effect

Active Publication Date: 2017-04-26
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

However, little attention has been paid to the research and application of sliding mode predictive fault-tolerant control for time-delay uncertain systems

Method used

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  • Robust fault-tolerant control method for small unmanned aerial vehicle flight control system
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  • Robust fault-tolerant control method for small unmanned aerial vehicle flight control system

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Embodiment Construction

[0063] The present invention will be further explained below in conjunction with the accompanying drawings.

[0064] Such as figure 1 As shown, a robust fault-tolerant control method for a small unmanned aerial vehicle flight control system, according to the uncertain discrete system with time-varying time-delay in the case of actuator failure, a quasi-integral sliding mode prediction model is constructed, the model It has time-varying characteristics, and can make the system state trajectory be located on the switching surface from the initial moment, ensuring the global robustness of the entire dynamic process, and better handling the influence of system time delay and actuator failure on the asymptotic stability of the sliding mode; Using the improved chaotic particle swarm optimization algorithm, the rolling optimization process is improved. Compared with the traditional derivative method, this method can quickly and accurately solve the control law that satisfies the inpu...

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Abstract

The invention discloses a robust fault-tolerant control method for small unmanned aerial vehicle flight control system. According to the discrete system with parametric uncertainties and time-varying delays in the case of actuator failure, a simulated-integral sliding mode prediction model is constructed. The model can ensure the global robustness of an entire dynamic process and deal with the influence of the fault incurred from the parametric uncertainties and time-varying delays on the progressive stability of the sliding mode. Through the use of the improved chaotic particle swarm optimization (PSO) algorithm to improve the rolling optimization process, the method can effectively avoid the problems that the traditional particle swarm algorithm is easy to fall into the local extreme point in the excellence seeking process and that the convergence rate is slow. In the invention, a new reference trajectory is proposed, which can reduce the influence of system uncertainty and time-varying delay to an acceptable range through compensation, and can also suppress the buffeting phenomenon of the sliding mode obviously. The invention is used for the robust fault-tolerant control for a discrete system with parametric uncertainties and time-varying delays in the case of actuator failure.

Description

technical field [0001] The invention relates to a robust fault-tolerant control method for a small unmanned aerial vehicle flight control system, and belongs to the technical field of robust fault-tolerant control for uncertain discrete time-delay control systems. Background technique [0002] As people's requirements for the safety and reliability of actual products are increasing day by day, in order to ensure that the system can still operate safely and stably under fault conditions, it is inevitable to adopt effective fault-tolerant control methods in the controller design. [0003] As a kind of nonlinear robust control method, sliding mode control has the advantages of simple design, easy implementation, and flexible use, so it is very suitable for dealing with fault problems. In recent years, the design of sliding mode fault-tolerant control method has been given high attention both in theoretical research and practical application, and a series of research results hav...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨蒲郭瑞诚刘剑慰马犇董艳
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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