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Tailstock type unmanned aerial vehicle trajectory tracking fault-tolerant control method based on L1 self-adaptive controller

An adaptive controller and trajectory tracking technology, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve problems such as increased uncertainty

Active Publication Date: 2020-07-28
BEIHANG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this process, the angle of attack of the tailseat UAV changes sharply, which makes the change of aerodynamic force very drastic, which greatly increases the uncertainty in this process.

Method used

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  • Tailstock type unmanned aerial vehicle trajectory tracking fault-tolerant control method based on L1 self-adaptive controller
  • Tailstock type unmanned aerial vehicle trajectory tracking fault-tolerant control method based on L1 self-adaptive controller
  • Tailstock type unmanned aerial vehicle trajectory tracking fault-tolerant control method based on L1 self-adaptive controller

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0188] Example 1: In the absence of damage to the actuator, H ∞ The controller tracks the effect.

[0189] Figure 6 and Figure 7 In the case of no damage to the actuator, H ∞ Trajectory and angle plots under controller control, Figure 8 It is the error map of the actual trajectory and the standard trajectory. It can be seen that in the non-faulty state, using H ∞ The controller can complete trajectory tracking.

Embodiment 2

[0190] Embodiment 2: Under the consideration of actuator damage failure, the proposed Adaptive controller with H ∞ Comparison of controller tracking effects.

[0191] Figure 9 is to use the conventional standard H ∞ controller and Trajectory tracking comparison plot of adaptive controller under fault conditions, Figure 10 and Figure 11 yes Trajectory error plot and angle plot of the adaptive controller in the fault state, Figure 12 and Figure 13 is the adaptive quantity of the controller. As can be seen, The trajectory tracking performance of the adaptive controller is better than that of H ∞ controller, h ∞ The effect of the controller is obviously reduced when the fault occurs, and the present invention proposes An adaptive controller can achieve the desired goal.

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Abstract

The invention provides a tailstock type unmanned aerial vehicle trajectory tracking fault-tolerant control method based on a self-adaptive controller. According to the method, adaptive controllers aredesigned for the nonlinear dynamics and kinematics model of a tailstock type unmanned aerial vehicle, wherein the controllers comprise a position adaptive controller and an angle adaptive controller,so that expected trajectory tracking performance can be achieved; in order to ensure the reliability of flight, an actuating mechanism damage fault is added into the model of the tailstock type unmanned aerial vehicle, and fault-tolerant control is carried out to realize trajectory tracking in a fault state. Compared with other control methods, the method can just use one set of parameters to perform control, is convenient to operate and can effectively reduce the influence of external interference and uncertainty on results and improve the stability of the tailstock type unmanned aerial vehicle, thereby achieving the expected trajectory tracking performance.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and specifically proposes a Tailseat UAV trajectory tracking fault-tolerant control method based on adaptive controller. Background technique [0002] Compared with manned aircraft, unmanned aerial vehicles have the advantages of small size and low cost. The most important thing is that it has low requirements for the combat environment, strong battlefield survivability, and can reduce casualties. In the early days, UAVs can be divided into rotary-wing UAVs and fixed-wing UAVs. As a new type of unmanned aerial vehicle, the tail seat UAV originated in Germany during World War II. The war destroyed the airport runway, and the take-off space of the aircraft was greatly restricted. The characteristics of the tail seat UAV can take off and land vertically satisfy the Reduced constraints on the launch site. Tailseat UAV is a combination of rotor UAV and fixed-wing UAV. It al...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 李昭莹石帅薛松柏
Owner BEIHANG UNIV
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