Fault Tolerant Control Method for Discrete Uncertain Multi-Delay Quadrotor System

Abstract

The invention discloses a novel sliding mode predictive fault-tolerant control algorithm for discrete uncertain multi-time-delay four-rotor systems under actuator faults. Aiming at the fault-tolerant control problem of discrete uncertain multi-delay quadrotor system in the presence of actuator faults, a quasi-integral sliding surface is designed as a predictive model to eliminate approaching modes and ensure global robustness. Secondly, aiming at actuator faults and multiple time delays, an improved fault compensation double power function reference trajectory is designed to weaken the influence of time delays on the system and improve the accuracy of fault-tolerant control. Thirdly, an improved Inverse Coyote Algorithm (ICOA) is designed for rolling optimization, which can avoid falling into local extremum during the optimization process while obtaining good convergence speed, and balances the performance of local exploitation and global search. The invention is used for the robust fault-tolerant control of a class of multi-time-delay discrete uncertain systems with actuator faults.

Description

technical field [0001] The invention relates to a sliding mode predictive fault-tolerant control method based on an improved coyote optimization algorithm (ICOA) designed for a multi-time-delay quadrotor system with actuator faults, and belongs to the technical field of robust fault-tolerant control for discrete uncertain systems. Background technique [0002] In recent years, with the rapid development of artificial intelligence and industrial technology, the demand for fault-tolerant control systems with superior performance and robustness that can cope with various disturbances and faults is also increasing. The most critical part of these control systems is the intelligent algorithm. Nowadays, more and more advanced intelligent algorithms have been successfully applied to specific control systems, and they exhibit superior performance. However, during the long-term operation of smart devices, some failures are inevitable. Faults will have harmful effects on the control...

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Problems solved by technology

According to the current research status, researchers mostly study the problem of fault-tolerant control of systems with single time-delay (generally state time-delay), but the research on the fault-tolerant problem of uncertain multi-time-delay systems with actuator failures has not yet been carried out. deep enough

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