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Control method for fault tolerance tracking of adaptive neural network of rigid aircraft

A neural network, tracking control technology, used in adaptive control, general control systems, control/regulation systems, etc.

Active Publication Date: 2019-01-11
ZHEJIANG UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the unknown nonlinear problems existing in the existing rigid aircraft attitude control system, the present invention provides an adaptive neural network fault-tolerant tracking control method for rigid aircraft, and when there is external disturbance in the system, the moment of inertia is uncertain, the actuator is saturated and A control method that achieves constant-time uniformly ultimately bounded system states in the event of a fault

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  • Control method for fault tolerance tracking of adaptive neural network of rigid aircraft
  • Control method for fault tolerance tracking of adaptive neural network of rigid aircraft
  • Control method for fault tolerance tracking of adaptive neural network of rigid aircraft

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Embodiment Construction

[0086] The present invention will be further described below in conjunction with the accompanying drawings.

[0087] refer to Figure 1-Figure 6 , a kind of adaptive neural network fault-tolerant tracking control method of rigid vehicle, described control method comprises the following steps:

[0088] Step 1, establish the kinematics and dynamics model of the rigid aircraft, initialize the system state and control parameters, the process is as follows:

[0089] 1.7 The kinematic equation of the rigid aircraft system is:

[0090]

[0091]

[0092] 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 ; Ω∈R 3 is the angular velocity of the rigid vehicle; I 3 is R 3×3 identity matrix; Expressed as:

[0093]

[0094] 1.8 The dynamic equati...

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Abstract

The invention discloses a control method for the fault tolerance tracking of the adaptive neural network of a rigid aircraft. The method designs a fixed time sliding surface for the posture tracking problem of the rigid aircraft with a concentration uncertainty to ensure that the fixed time of the state shortens, introduces a function in which the neural network approximates the total uncertainty,and designs an adaptive fixed time controller. According to the control method for the fault tolerance tracking of the adaptive neural network of the rigid aircraft, the control that the fixed time of the posture tracking error and the angular velocity error of the aircraft system are consistent and bounded is realized, under the factors of external disturbance, uncertain moment of inertia, actuator saturation and failure.

Description

technical field [0001] The invention relates to an adaptive neural network fault-tolerant tracking control method for a rigid aircraft, in particular to an attitude tracking method for a rigid aircraft with external interference, 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. To sum up, when a rigid aircraft performs a mission...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈强谢树宗孙明轩
Owner ZHEJIANG UNIV OF TECH