Four-rotor aircraft fault tolerance control method based on switching adaptive algorithm

Abstract

The invention discloses a four-rotor aircraft fault tolerance control method based on a switching adaptive algorithm, belongs to the field of aircraft control, and is used for solving the problem thata high-maneuverability four-rotor aircraft cannot well track an expected signal under the conditions that an input fault exists and kinetic parameters are unknown. The method is technically characterized by comprising the following steps of constructing a four-rotor aircraft segmented ray-imitating linear system containing unknown input faults and unknown kinetic parameters, a reference system and a controller; obtaining an error system model according to the segmented radioactive system, the reference system and the controller; designing a residence time constraint-based switching signal according to the segmented radioactive system and the reference system; and obtaining an adaptive law of control parameters in the controller according to the error system model and the switching signal.The method can achieve the good tracking performance of the high-maneuverability four-rotor aircraft for an expected signal, and can be used for the flight control of the four-rotor aircraft so as toguarantee the stable flight of the four-rotor aircraft under the conditions that an input fault and a kinetic parameter are unknown.

Description

technical field

[0001] The invention relates to the field of aviation aircraft control, in particular to a fault-tolerant control method for a quadrotor aircraft based on a switching adaptive algorithm.

[0002] technical background

[0003] During the working process of quadrotor aircraft, motor failure or input signal failure is prone to occur, which seriously threatens its flight safety. At the same time, the strong maneuverability and large envelope motion characteristics of the quadrotor aircraft increase the complexity of the controller design of the aircraft. In the prior art, a quadrotor fault-tolerant method based on adaptive control is given in literature [1]. This method dynamically approximates the nonlinear system of the quadrotor into a linear system, and uses the traditional model reference adaptive control The method guarantees a certain flight performance of the quadrotor aircraft when a single motor fails. Good flight status in the airspace; Literature [2]...

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