Adaptive multi-variable quad-rotor unmanned aerial vehicle finite-time fault-tolerant control method

Abstract

The invention relates to the technical field of unmanned aerial vehicle control, and aims to solve a problem of high-precision fast and stable tracking control for a quad-rotor unmanned aerial vehicleunder the influences of a rotor fault and an unknown disturbance boundary so as to achieve the purposes of comprehensively improving the control performance of the quad-rotor unmanned aerial vehicleand enhancing the safety and reliability of the system. The invention relates to an adaptive multi-variable quad-rotor unmanned aerial vehicle finite-time fault-tolerant control method, which comprises the steps of first designing an adaptive finite-time position fault-tolerant controller; second, calculating the attitude, and establishing an analysis relation between a position loop virtual control instruction and an attitude loop reference attitude instruction based on flight characteristics of the quad-rotor unmanned aerial vehicle; and third, designing an adaptive finite-time attitude fault-tolerant controller. The method is mainly applied to unmanned aerial vehicle control occasions.

Description

technical field [0001] The invention relates to the technical field of unmanned aircraft control, in particular to the field of limited-time fault-tolerant control of quadrotor unmanned aerial vehicles. Background technique [0002] Quadrotor UAV is a typical underactuated system affected by multiple variables, strong coupling, nonlinearity and uncertainty. Compared with other aircraft, quadrotor UAV has the following salient features: (1) Small size, low weight It is light, and can take off and land vertically in various complex spaces; (2) The flying height of the micro quadrotor UAV is several hundred meters, the flying speed can reach tens of meters per second, and the maneuverability is strong; (3) The structure is simple, Low cost, easy disassembly and easy maintenance. Due to the various advantages of the quadrotor UAV, it can replace human beings to enter some extreme conditions to perform tasks: in the military, it can be used to perform complex tasks such as short...

AI Technical Summary

Problems solved by technology

However, due to the strong nonlinear characteristics of UAVs, the uncertainty of model parameters during flight, and the influence of various complex characteristics such as unmodeled dynamics, it is difficult to obtain the boundaries of UAVs' external disturbances and failure rates accurately in advance.

However, the current fault-tolerant control method based on the adaptive strategy can only achieve asymptotically stable tracking of the reference command, and when the online estimation of the comprehensive interference boundary of the UAV is performed, there is often an overestimation phenomenon (the adaptive gain is much larger in the actual interference boundary), the high gain in this case brings inconvenience to the realization of the UAV controller

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