An anti-jamming and fault-tolerant control method for unmanned aerial vehicles
A fault-tolerant control and unmanned aerial vehicle technology, applied in the direction of attitude control, control/regulation system, non-electric variable control, etc., can solve the problems of quadrotor unmanned aerial vehicle actuator efficiency loss failure, external interference, etc., to improve fault tolerance With the effect of anti-interference ability, strong fault tolerance ability and high-precision control
Active Publication Date: 2022-04-08
BEIHANG UNIV
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Problems solved by technology
[0006] The technical problem of the present invention is: aiming at the coexistence of efficiency loss failure and external interference of quadrotor unmanned aerial vehicle actuators in a complex working environment, to overcome the deficiencies of the prior art, to provide an anti-interference and fault-tolerant control method for unmanned aerial vehicles, to improve Fault Tolerance and Anti-interference Capability of Quadrotor UAV Control System
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[0028] The specific implementation manner of the present invention will be described in further detail below in conjunction with the accompanying drawings.
[0029] Such as figure 1 Shown, the specific implementation steps of the present invention are as follows:
[0030] The first step is to establish a quadrotor UAV height and attitude control system model with actuator failure and external disturbance mixed
[0031] The quadrotor UAV is an underactuated system. The actuator directly drives the height and attitude of the quadrotor UAV. According to the Newton Euler equation, the height and The attitude control system model is as follows:
[0032]
[0033] where x=[x 1 x 2 ] T is the state vector of the system, x 1 =[z φ θ ψ] T , z is the height of the quadrotor UAV, φ, θ, ψ respectively represent the roll angle, pitch angle and yaw angle of the quadrotor UAV; is the derivative of the system state vector, is the speed of the quadrotor UAV in the direction of he...
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The invention relates to an anti-jamming and fault-tolerant control method for a UAV, aiming at a type of four-rotor UAV control system with actuator damage and external interference mixed, and the goal is to quickly decouple the actuator efficiency loss fault and external interference. Estimating and guaranteeing the safety of quadrotor UAV under the coexistence of actuator failure and external disturbance through autonomous control reconstruction. Firstly, the height and attitude control system model of the quadrotor UAV mixed with actuator failure and external disturbance is established; secondly, for the actuator efficiency loss failure, a nonlinear adaptive state observer is designed to estimate the efficiency loss coefficient of each actuator; then , design a disturbance observer, and estimate the external disturbance; finally, design a compound controller according to the estimated value of the actuator efficiency loss coefficient and the estimated value of the external disturbance, and complete the anti-jamming and fault-tolerant control of the quadrotor UAV. The invention can be used for the high-precision and high-reliability control of the quadrotor UAV.
Description
technical field [0001] The invention relates to an anti-jamming and fault-tolerant control method for unmanned aerial vehicles. Aiming at the mixed situation of quadrotor unmanned aerial vehicle actuator failure and external interference in a complex task environment, an active anti-interference and fault-tolerant control system is designed to prevent the loss of efficiency of the four-rotor actuator and the failure of the four-rotor actuator. The external disturbances are finely estimated and compensated separately, which can be used for highly reliable and high-precision control of the quadrotor UAV system. Background technique [0002] In recent years, quadrotor UAV has received extensive attention as a special UAV. With the complexity of mission requirements, higher requirements are put forward for the high reliability and high precision control of the quadrotor UAV system. The UAV mission environment is complex and changeable, and it is extremely vulnerable to external...
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IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0808G05D1/101
Inventor 郭雷余翔邢舟郭克信刘偲
Owner BEIHANG UNIV