Quad-rotor unmanned aerial vehicle attitude fault-tolerant control method considering unknown wind disturbance

Abstract

The invention discloses a quadrotor unmanned aerial vehicle attitude fault-tolerant control method considering unknown wind disturbance, and relates to the field of unmanned aerial vehicle attitude control design. The method can effectively cope with unknown wind disturbance, actuator partial failure and deviation faults. According to the method, unknown wind disturbance and deviation faults are regarded as total disturbance, an improved disturbance compensator is designed by applying a self-adaptive mechanism aiming at the total disturbance, the size of switching gain is adjusted online according to the requirement of control precision, and waste of output energy of a controller caused by the fact that the switching gain is too large is avoided. And aiming at the partial failure of the actuator, the failure factor compensator designed based on the adaptive method enables the unmanned aerial vehicle to process the fault in time and recover the normal trajectory. The attitude controller is designed through the non-singular fast terminal sliding mode control technology, robustness is guaranteed, the fast response characteristic is also guaranteed, the unmanned aerial vehicle can handle faults in time, the fault tolerance of the unmanned aerial vehicle is enhanced, and the flight safety of the unmanned aerial vehicle is improved.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle attitude control design, in particular to a quadrotor unmanned aerial vehicle attitude fault-tolerant control method considering unknown wind disturbance. Background technique [0002] The quadrotor UAV has many advantages, the most notable of which is that it can take off and land vertically and hover. With this advantage, quadrotor UAV has a wide range of applications in the fields of agricultural survey, traffic mapping, power grid detection and information measurement. With the wide application of quadrotor UAVs, people put forward higher requirements for flight quality. The main factors affecting the flight quality of UAVs are unknown wind disturbances and potential actuator failures. The position of the quadrotor UAV in the air needs to be controlled by adjusting the attitude. In order to achieve accurate tracking of the position, the precise adjustment of the attitude must be achiev...

AI Technical Summary

Problems solved by technology

In the actual flight environment, it is often difficult to obtain the upper bound information of the system interference, and engineers generally replace the upper bound information with a larger value, which will cause the controller to output unnecessary energy

In addition, it is difficult to achieve fast convergence characteristics when using the traditional sliding mode control method to design the attitude controller. Although the general fast terminal sliding mode control method can improve the convergence characteristics of the system, some design parameters must meet odd conditions, making the control range of adjustment is limited

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