Robust fault-tolerant tracking control method for unmanned helicopter
An unmanned helicopter, tracking control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc.
Active Publication Date: 2019-06-07
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
But they also have inherent disadvantages: for example, some need to use the runway to take off and land, some need to launch with a catapult, land with a parachute, etc.
However, due to the problem of singularity in adaptive control, the method of auxiliary system can be regarded as a good tool
In addition, due to the physical limitations of the actuator, the input saturation problem is also a practical problem that cannot be ignored
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[0069] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0070] 1. System model
[0071] For the following unmanned helicopter 6 degrees of freedom nonlinear dynamic model:
[0072]
[0073] where x 1 =[X,Y,Z] T and x 2 =[u,v,w] T are the position vector and velocity vector of the helicopter respectively, x 3 =[φ,θ,ψ] T and x 4 =[p,q,r] T are the attitude angle and the attitude angle rate vector respectively, X, Y, Z represent the components of the position of the helicopter in each direction of the three-dimensional space, u, v, w represent the components of the speed of the helicopter in each direction of the three-dimensional space, φ, θ, ψ represent the roll angle, pitch angle and yaw angle of the helicopter respectively, p, q, r represent the roll rate, pitch rate and yaw rate of the helicopter respectively, m is the mass of the helicopter, g is the gravitational acceleration, χ ...
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The invention discloses a robust fault-tolerant tracking control method for an unmanned helicopter. With consideration of an actuator failure and input saturation, a six-degree-of-freedom nonlinear system model of an unmanned helicopter is constructed; auxiliary systems are designed for a position loop and an attitude loop of the system respectively to suppress influences on the system by the actuator failure and input saturation; on the basis of a position loop auxiliary system definition tracking error, a position loop robust fault-tolerant controller is established by introducing an adaptive neural network; and according to an attitude loop auxiliary system definition tracking error, an attitude loop robust fault-tolerant controller is established by introducing an adaptive neural network. Therefore, the unmanned helicopter is able to keep stability and track an expected reference trajectory while the influences of the actuator failure and input saturation are considered.
Description
technical field [0001] The invention belongs to the field of aircraft robust fault-tolerant technology, and in particular relates to a robust fault-tolerant tracking control method for unmanned helicopters. Background technique [0002] Unmanned aircraft, referred to as UAV, is an aircraft that uses onboard sensors and automatic control systems to perform given tasks autonomously or sends remote commands to perform tasks through radio remote control equipment. Compared with manned aircraft, it has the advantages of small size, low cost, and convenient use. With the rapid development of micro-processing chips, sensors, and global positioning technology, as well as the improvement of the performance of related equipment and the reduction of volume and weight, drones have become a research hotspot in the field of robotics in the past two decades. UAVs can be mainly classified into fixed-wing UAVs and rotary-wing UAVs (ie, unmanned helicopters). Fixed-wing UAVs have the advant...
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IPC IPC(8): G05B13/04
Inventor 陈谋阎坤吴庆宪姜斌盛守照邵书义
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS