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Neural network estimation based adaptive fixed time attitude fault tolerance control method of rigid aircraft

A fixed time, neural network technology, applied in attitude control, control/regulation system, non-electric variable control, etc.

Inactive Publication Date: 2019-01-04
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0005] In order to overcome the unknown nonlinear problem existing in the existing rigid aircraft attitude control system, the present invention provides a rigid aircraft adaptive fixed-time attitude fault-tolerant control method based on neural network estimation, and when there is external disturbance in the system, the moment of inertia is uncertain, Achieving constant-time uniformly ultimately bounded control of system states in the case of actuator saturation and faults

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  • Neural network estimation based adaptive fixed time attitude fault tolerance control method of rigid aircraft
  • Neural network estimation based adaptive fixed time attitude fault tolerance control method of rigid aircraft
  • Neural network estimation based adaptive fixed time attitude fault tolerance control method of rigid aircraft

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[0074] The present invention will be further described below in conjunction with the accompanying drawings.

[0075] refer to Figure 1-Figure 6 , a rigid aircraft adaptive fixed-time attitude fault-tolerant control method based on neural network estimation, said control method comprising the following steps:

[0076] Step 1, establish the kinematics and dynamics model of the rigid aircraft, initialize the system state and control parameters, the process is as follows:

[0077] 1.1 The kinematic equation of the rigid aircraft system is:

[0078]

[0079]

[0080] where q v =[q 1 ,q 2 ,q 3 ] T and q 4 are the vector part and the scalar part of the unit quaternion respectively and satisfy q 1 ,q 2 ,q 3 are the values ​​mapped on the x, y, and z axes of the space Cartesian coordinate system; respectively q v and q 4 derivative of for q v transpose of ; Ω∈R 3 is the angular velocity of the rigid vehicle; I 3 is R 3×3 identity matrix; Expressed as:

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Abstract

The invention relates to a neural network estimation based adaptive fixed time attitude fault tolerance control method of a rigid aircraft. A nonsingular time sliding mode surface is designed aimed atthe problem of attitude calmness of the rigid aircraft with concentrated nondeterminacy, fixed time convergence of the state is ensured, and the problem of a singular value is solved. A neural network proximity uncertain function is introduced, and a nonsingular neural network fixed time controller is designed. The state of the aircraft system is controlled with consistent fixed time and a boundary finally under the condition that external interference and inertia moment are uncertain and a performer is saturated or has a fault.

Description

technical field [0001] The invention relates to an adaptive fixed-time attitude fault-tolerant control method for a rigid aircraft based on neural network estimation, in particular to a method for stabilizing the attitude of a rigid aircraft in the presence of external disturbances, uncertain moment of inertia matrix, actuator saturation and failure. Background technique [0002] Rigid aircraft attitude control systems play an important role in the healthy and reliable motion of rigid aircraft. In the complex aerospace environment, the attitude control system of rigid aircraft will be affected by various external disturbances and the aging and failure of rigid aircraft during long-term continuous missions. In order to effectively maintain the performance of the system, it needs to be robust to external disturbances and actuator failures; in addition, the rigid aircraft also has an uncertain moment of inertia matrix, so control saturation is also a common problem for aircraft...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 陈强谢树宗孙明轩
Owner ZHEJIANG UNIV OF TECH
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