Fault diagnosis method for drone formation system on basis of sliding mode observer

A technology of sliding mode observer and fault diagnosis, which is applied in general control systems, control/regulation systems, instruments, etc.

Active Publication Date: 2019-03-19
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] In order to avoid the deficiencies of the above prior art, the present invention proposes a method for fault diagnosi

Method used

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  • Fault diagnosis method for drone formation system on basis of sliding mode observer
  • Fault diagnosis method for drone formation system on basis of sliding mode observer
  • Fault diagnosis method for drone formation system on basis of sliding mode observer

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Embodiment

[0105] 1. If figure 1 As shown, consider the UAV formation system composed of 5 wingmen and 1 leader under the directed graph network topology, and the state space model of any UAV in the case of actuator failure is modeled as follows Show:

[0106]

[0107] where, i=1, 2, ..., 5, represent the state variable, control input and system output of the i-th UAV, respectively. g(x i ) is the nonlinear part of the system, which satisfies the Lipschitz condition. Represents an actuator failure, and the failure is bounded but the upper bound is unknown, ie ||f i (t)||≤α, but α is unknown. Indicates the external disturbance, the disturbance is bounded and known, ie ||φ i (t)||≤β, β is known. The matrices A, B, E, D, and C are all constant real matrices of appropriate dimension, and (A, C) are observable, and the matrices C and E are full rank.

[0108] 2. Designing an adaptive sliding mode observer based on the relative output error described by the directed graph network...

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Abstract

The invention relates to a fault diagnosis method for a drone formation system on the basis of a sliding mode observer. The fault diagnosis method includes the following steps of 1, establishing a nonlinear model for a single drone with an actuator fault with an unknown upper limit; 2, designing the corresponding sliding mode observer and introducing a relative output error to represent the interaction of individual information on the basis of directed graph network topological structure description; 3, constructing a global error system based on a state space equation of the single drone andthe structure of the observer; 4, solving global sliding mode stability conditions and arrival conditions; 5, adopting a linear matrix inequality toolbox for solving to-be-designed quantity; 6, carrying out fault estimation according to an equivalent control output error injection principle. According to the online drone formation fault diagnosis system, high robustness can be achieved, fault detection, isolation and estimation can be carried out, and the stability and safety of an entire formation are improved.

Description

technical field [0001] The invention relates to a fault diagnosis method for a UAV formation system based on a sliding mode observer, and belongs to the field of UAV formation fault diagnosis. Background technique [0002] With the rapid development of Internet of Things technology, the Internet of Things application of UAV formation is widely used in military and civilian fields, and has attracted more and more attention. However, with the increase in the number of UAVs in the entire formation, the possibility of failure and the severity of the consequences of the failure have greatly increased, so the fault diagnosis method of the relevant UAV formation is also particularly important. [0003] In the past 20 to 30 years, the fault diagnosis methods of flight control systems have become more and more mature, but most of these methods are aimed at centralized systems and are not suitable for UAV formation systems with information interaction. However, most of the existing e...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 施俊鹏刘剑慰杨蒲
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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