Finite-time adaptive event-triggered fault-tolerant tracking control method for multi-rotor aircraft

Abstract

The invention relates to a finite-time adaptive event-triggered fault-tolerant tracking control method for a multi-rotor aircraft. The method enables the number of times of communication between a controller and an actuator of the multi-rotor aircraft to be remarkably reduced through the utilization of the advantage of low resource occupation of an event-triggered control technology; the fault-tolerant capability is added to ensure that the aircraft is still safe and controllable when an actuator breaks down; a multi-rotor aircraft control algorithm integrating a finite time command filtering technology and a fractional power error compensation mechanism realizes rapid approximation of a derivative of a virtual control signal, rapidly eliminates a filtering error which is not considered in a dynamic surface control algorithm, and weakens a limiting condition of the virtual control signal; according to the multi-rotor aircraft flight control method based on the adaptive compensation technology, under the condition that bias fault prior information is not needed, partial failure and unknown bias faults of an actuator are effectively processed; and an event triggering scheme of a relative threshold strategy is adopted, so that the execution times of the executor are reduced.

Description

technical field [0001] The invention relates to a limited-time self-adaptive event-triggered fault-tolerant tracking control method of a multi-rotor aircraft, which belongs to the technical field of automatic control of unmanned aircraft. Background technique [0002] At present, a multi-rotor unmanned aerial vehicle (Unmanned Aerial Vehicle) refers to a type of aircraft that changes the single-axis thrust by changing the relative rotational speed between different rotors, and then controls the aircraft to achieve various attitudes and movements. [0003] Compared with traditional helicopters, multi-rotor aircraft has simple mechanical structure, vertical lift, and is convenient for maintenance. It can perform tasks in very harsh environments and in small spaces, and can be deployed flexibly. Relying on the development of control theory science, electronic information technology and sensor technology, multi-rotor aircraft are developing towards intelligence and multi-functio...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art, to provide a limited time adaptive event trigger fault-tolerant tracking control method for multi-rotor aircraft, aiming at solving the problem of "dimensional explosion" in the backstepping control in a limited time and Filtering error problem in dynamic surface control technology, realizing fast tracking control of position and attitude of multi-rotor aircraft with uncertainties and actuator failures

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