A Fault Diagnosis Method of UAV Formation System Based on Sliding Mode Observer

A technology of sliding mode observer and fault diagnosis, which is applied in general control systems, control/regulation systems, instruments, etc., to achieve the effects of fast fault estimation, high accuracy, and strong anti-interference ability

Active Publication Date: 2021-10-22
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 diagnosis of UAV formation based on a sliding mode observer to solve the problem of online fault estimation for UAV formation system

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  • A Fault Diagnosis Method of UAV Formation System Based on Sliding Mode Observer
  • A Fault Diagnosis Method of UAV Formation System Based on Sliding Mode Observer
  • A Fault Diagnosis Method of UAV Formation System Based on Sliding Mode Observer

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Embodiment

[0105] 1. If figure 1 As shown, consider a 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 t...

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Abstract

The invention relates to a fault diagnosis method of an unmanned aerial vehicle formation system based on a sliding mode observer. The fault diagnosis method includes the following aspects: 1) Establish a nonlinear model for a single UAV with actuator faults with unknown upper bounds; 2) Design a corresponding sliding mode observer, and introduce a network topology based on a directed graph The relative output error under the structural description is used to represent the interaction of individual information; 3) Based on the state space equation and observer structure of a single UAV, construct a global error system; 4) Solve the global sliding mode stability condition and arrival condition; 5) Use the linear matrix inequality toolbox to solve the quantity to be designed; 6) Carry out fault estimation according to the principle of equivalent control output error injection. The online UAV formation fault diagnosis system of the present invention can detect, isolate and estimate faults with good robustness, and improve the stability and safety of the entire formation.

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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Patent Type & Authority Patents(China)
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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