A fault-tolerant control method for quadrotor aircraft based on switching adaptive algorithm

A quadrotor aircraft and self-adaptive algorithm technology, applied in the field of aviation aircraft control, can solve the problem that a large maneuvering quadrotor aircraft cannot ensure good tracking of desired signals, and achieve the effect of final boundedness

Active Publication Date: 2021-09-17
HARBIN INST OF TECH
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Problems solved by technology

[0006] In view of the above problems, the present invention proposes a fault-tolerant control method for a quadrotor aircraft based on a switching adaptive algorithm to solve the problem that a large maneuvering quadrotor aircraft cannot guarantee good tracking of the desired signal in the case of an input fault

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  • A fault-tolerant control method for quadrotor aircraft based on switching adaptive algorithm
  • A fault-tolerant control method for quadrotor aircraft based on switching adaptive algorithm
  • A fault-tolerant control method for quadrotor aircraft based on switching adaptive algorithm

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[0053] Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual implementation are described in this specification. It should be understood, however, that in developing any such practical embodiment, many implementation-specific decisions must be made in order to achieve the developer's specific goals, such as meeting those constraints related to the system and business, and those Restrictions may vary from implementation to implementation. Furthermore, it should be understood that development work, while potentially complex and time-consuming, would nevertheless be a routine undertaking for those skilled in the art having the benefit of the teachings herein. Here, it should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only the device structure and / or processing steps closely related to the so...

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Abstract

A fault-tolerant control method for a quadrotor aircraft based on a switching adaptive algorithm, which belongs to the field of aviation aircraft control, and is used to solve the problem that a large maneuvering quadrotor aircraft cannot guarantee good tracking of expected signals in the case of input faults and unknown dynamic parameters The problem. The technical points of the method include constructing a segmented affine linear system, a reference system, and a controller of a quadrotor aircraft including unknown input faults and unknown dynamic parameters; obtaining an error system model according to the segmented radial system, reference system, and controller; According to the segmented radial system and the reference system, the switching signal based on the dwell time constraint is designed; the adaptive law of the control parameters in the controller is obtained according to the error system model and the switching signal. The method of the invention can provide a large maneuvering quadrotor aircraft with good tracking performance on expected signals, and can be applied to the flight control of the quadrotor aircraft to ensure its stable flight under the conditions of input failure and unknown dynamic parameters.

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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G06F17/16G06F17/13
CPCG05B13/045G06F17/13G06F17/16
Inventor 袁帅张立宪蔡博张瑞先梁野
Owner HARBIN INST OF TECH
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