119 results about "Fault tolerant controller" patented technology

The invention discloses an intelligent automobile cooperative cruise safety control method under Dos attacks and physical faults, and relates to automobile intelligent safety and automatic driving. A hierarchical control framework is adopted and comprises an observer layer and a tracking layer. The method comprises the following steps: establishing a vehicle longitudinal dynamics model and a DoS attack model for DoS attack in a V2X communication network and the problems of sensor and actuator faults and parameter isomerism of a vehicle; a completely distributed self-adaptive preset time observer based on event triggering is designed for each following vehicle in the observer layer, and rapid and accurate estimation of the state of the pilot vehicle is achieved; the method comprises the following steps: constructing an augmentation system at a tracking layer, designing a distributed intermediate observer, carrying out online estimation and compensation on faults of a sensor and an actuator, designing a distributed active fault-tolerant controller based on a fault estimation value and a pilot vehicle state estimation value, and calculating a wheel driving torque to realize safe cruise control. Multiple threats of coexistence of network attacks and physical faults are effectively handled, and the stability and safety of the cooperative cruise system are ensured.

The invention discloses an anti-interference and fault-tolerant control method for a quad-rotor unmanned aerial vehicle cluster, and belongs to the technical field of unmanned aerial vehicle control. The method comprises the following steps: establishing a quadrotor unmanned aerial vehicle cluster dynamic model containing unconstrained interference (including unbounded interference) and multiple faults; establishing an augmentation system to enhance the characterization capability of the system to the composite uncertainty; constructing a distributed unknown input observer, and observing the state of the quad-rotor unmanned aerial vehicle, sensor faults and unconstrained lumped interference at the same time; constructing a four-rotor unmanned aerial vehicle cluster anti-interference and fault-tolerant controller; according to the method, the four-rotor unmanned aerial vehicle cluster can maintain good fault estimation precision, disturbance suppression capability and cooperative control performance under the condition of multi-fault concurrency and unbounded disturbance coupling, and the flight safety and task reliability of the four-rotor unmanned aerial vehicle cluster in a complex environment are enhanced.

The invention provides a multi-unmanned aerial vehicle distributed fault-tolerant control method, an unmanned aerial vehicle control method and an unmanned aerial vehicle control system, and belongs to the technical field of unmanned aerial vehicles. A position ring distributed fault-tolerant controller and an attitude ring distributed fault-tolerant controller are constructed in combination with a multi-unmanned-aerial-vehicle position ring virtual control law and a multi-unmanned-aerial-vehicle attitude ring virtual control law, and fault-tolerant processing is performed on the flight path of the fault unmanned aerial vehicle through the position ring distributed fault-tolerant controller; the fault unmanned aerial vehicle can keep tracking an expected trajectory; fault-tolerant processing is carried out on the attitude of the faulted unmanned aerial vehicle through the attitude ring distributed fault-tolerant controller, so that the faulted unmanned aerial vehicle can maintain a stable attitude angle, thereby ensuring that the whole unmanned aerial vehicle cluster system can operate safely and stably.

The invention relates to a passive fault-tolerant control method and system for a tilt-rotor unmanned aerial vehicle based on a nonlinear variable parameter model. The method comprises the following steps: S1, establishing an actuator fault model; s2, constructing a longitudinal dynamic model of the tilt-rotor aircraft, and converting the longitudinal dynamic model of the tilt-rotor aircraft into a nonlinear variable parameter model of the tilt-rotor aircraft; s3, introducing an actuator fault model into the nonlinear variable parameter model to obtain a nonlinear variable parameter model containing an actuator fault; s4, designing a fault-tolerant controller by adopting a quadratic sum convex programming method; s5, based on the Lyapunov stability theory, establishing a fault-tolerant controller solvability condition of the nonlinear variable parameter system model containing the actuator fault, enabling the nonlinear variable parameter model to have exponential stability, and solving the solvability condition to obtain the fault-tolerant controller; and S6, applying the fault-tolerant controller to a flight control system of the tilt-rotor aircraft.

The invention provides a preset performance fault-tolerant control method under motor failure of a tendon-driven mechanical arm. The preset performance fault-tolerant control method comprises the following steps: constructing a tendon-driven mechanical arm system model with actuator fault, external interference and system parameter uncertainty; designing a tendon-driven mechanical arm trajectory tracking error model and a fixed time sliding mode observer; an improved preset performance function is constructed, so that the trajectory tracking position error of each joint of the mechanical arm meets a preset performance boundary; and a fixed-time preset performance fault-tolerant controller is designed, so that trajectory tracking errors of all joints of the mechanical arm are converged to a preset performance boundary within fixed time. According to the method, non-singular terminal sliding mode control is combined with the preset performance function, so that the performance boundary constraint of the tracking error is realized while the stability of the fixed time of the system is ensured; by dynamically adjusting the boundary of the performance function, the problem of control precision degradation under the actuator fault working condition is effectively solved, and the robustness and trajectory tracking precision of the system are remarkably improved.

The invention relates to a multi-agent adaptive cooperative fault-tolerant tracking method, device and equipment, and the method comprises the steps: estimating the current state of a navigator through employing a distributed high-order sliding-mode observer according to interaction data and historical state data of the navigator, and obtaining a current state estimation value of the navigator, a tracking error is calculated according to the current state estimation value, the constrained tracking error is converted into an equivalent unconstrained tracking error by adopting an error conversion function, and a self-adaptive cooperative fault-tolerant controller is adopted according to the current state estimation value of the navigator, the unconstrained tracking error and the current state data of the follower; and under the constraint of a fixed time preset performance function, obtaining a current control signal meeting the preset tracking precision under the preset error convergence time, and executing the current control signal to realize tracking control under the composite constraint. By adopting the method, accurate control can be carried out under composite constraints.

The invention relates to a multi-agent adaptive cooperative fault-tolerant control method and device, equipment and a medium, and the method comprises the steps: carrying out the correction of the current state data of a navigator and an adjacent follower through a distributed high-order sliding-mode observer and a distributed state observer under the constraint of a corresponding elastic event triggering condition, and carrying out the correction of the state data, the method comprises the following steps: acquiring a state estimation value according to a first state estimation value and a second state estimation value, and then acquiring a current control signal capable of enabling a nonlinear high-order multi-agent system to maintain a current formation array by utilizing a self-adaptive cooperative fault-tolerant controller under the constraint of a corresponding elastic event triggering condition according to the first state estimation value and the second state estimation value. By adopting the method, the current state of the nonlinear high-order multi-agent system can be kept under the situation that a communication link and an actuator are interfered, and communication resources are saved at the same time.

The invention provides an anti-saturation fault-tolerant control method and device for a double-flexible-arm space robot, relates to the field of robot control, and solves the multiple challenges that in the prior art, a flexible mechanical arm faces continuous and difficult vibration suppression, an actuator is prone to failure, torque is limited, task time is constrained and the like. The dynamic state of the system is unstable; and the control capability is limited. The method comprises the steps that a hypothesis modal method and a momentum conservation theorem are combined to derive a double-flexible-arm space robot kinetic equation in a Lagrange form; a flexible system singular perturbation technology is utilized to obtain a slow-varying subsystem for representing rigid motion characteristics of a mechanical body and a quick-varying subsystem for representing residual vibration characteristics of a rod piece; for the slow-varying subsystem, designing a fixed-time anti-saturation fault-tolerant controller based on an extreme learning machine and a torque output function; and designing an anti-saturation controller based on state variable negative feedback for the quick change subsystem. The method is used in the robot control process.

The invention discloses an unmanned aerial vehicle rotor fault tolerance control method based on micro simulation optimization, and relates to the technical field of unmanned aerial vehicle rotor control, and the method comprises the steps: constructing a high-fidelity micro four-rotor fault simulation platform, building an unmanned aerial vehicle four-rotor dynamic model, and simulating a single-rotor fault of any severity through fault injection; passive fault-tolerant controller training based on learning is carried out, a quad-rotor hovering stability control test is carried out through a high-fidelity micronizable quad-rotor fault simulation platform, and a controller is trained through micronizable simulation and BPTT; and training a selector through a Selector-Controller strategy network, carrying out rapid learning of a fault-tolerant control strategy, outputting a control instruction, and carrying out high-precision adaptive control in a quadrotor fault scene. According to the method, switching of a controller is not needed, any actuator fault scene can be covered, and it can be ensured that multiple rotors can stably fly in the whole actuator fault process.

According to the fault-tolerant control method for the actuator fault in the urban sewage treatment process, stable control over the dissolved oxygen concentration and the nitrate nitrogen concentration in the urban sewage treatment process under the influence of the actuator fault is achieved. Firstly, a nonlinear observer is designed to accurately estimate an actuator fault; secondly, constructing a radial basis function neural network to accurately characterize the time-varying nonlinear dynamic characteristics of the sewage treatment process; a fault-tolerant controller based on self-adaptive dynamic programming is designed, and the problem that the dissolved oxygen concentration and the nitrate nitrogen concentration deviate from set values due to actuator faults is solved jointly by constructing an evaluation network and an execution network, training a neural network by adopting a strategy iterative algorithm, solving an approximate optimal control law and fusing a prior classical controller. Experimental results show that the method can realize fault-tolerant control of the dissolved oxygen concentration and the nitrate nitrogen concentration, and ensures stable operation of the urban sewage treatment process.

This invention discloses a distributed adaptive fault-tolerant control method and system for nonlinear inline systems, relating to the field of distributed control technology for nonlinear inline systems. The method includes: for each subsystem in the nonlinear inline system, constructing the actual output of each actuator in the subsystem based on the fault type of the actuator; the nonlinear inline system includes several subsystems; for each subsystem, constructing a local objective function, an error optimizer, an auxiliary system, high-gain parameters, and a control law, and generating an optimal error trajectory based on the local objective function and the error optimizer. At the upper level, this invention designs an error optimizer to generate the optimal error trajectory based on a local objective function that converges to zero; at the lower level, it designs a trajectory tracking fault-tolerant controller with the help of an auxiliary system, employing a dynamic high-gain approach to adaptively handle the effects of uncertain parameters, actuator faults, and unknown strong inline coupling.

The invention discloses a five-phase permanent magnet speed regulation control method and system for a monorail crane, and belongs to the technical field of monorail cranes. Multi-source operation state information of a five-phase motor is collected, and a multi-axis state topological graph based on a graph neural network is constructed; a graph time sequence prediction model is established on the basis, a future disturbance trend is predicted, and state prior information is generated; optimal control strategy selection and priority adaptive switching are carried out according to prior information; control vector redundancy reconstruction is carried out under the fault condition; a generalized hypersurface regulator is embedded in the sliding mode fault-tolerant controller, and the control gain is dynamically corrected in combination with the coupling strength coefficient; the method has the advantages of high adaptability, high fault tolerance and high speed regulation precision, and is suitable for a permanent magnet motor control system under complex working conditions such as a coal mine monorail crane.

The invention discloses an uncontrollable high-thrust fault-tolerant control method based on volume Kalman filtering. The method comprises the following steps: receiving a fuel flow instruction and a real-time state signal; based on the fuel oil flow instruction, a PID controller is combined with fuel oil metering valve position feedback, and a fuel oil metering valve is driven to execute conventional fuel oil flow control; based on the real-time state signal, estimating the thrust of the aero-engine in real time by adopting a volume Kalman filtering algorithm to obtain a thrust estimation value; comparing the thrust estimation value with a preset thrust threshold value, and judging whether an uncontrollable high-thrust event occurs or not when a preset flight state condition is met; if the uncontrollable high-thrust event does not occur, conventional fuel flow control is executed; and if the uncontrollable high thrust event occurs, the PID controller is switched to the fault-tolerant controller, and the TCMA servo valve and the shut-off valve are controlled and driven to realize fault-tolerant control of the fuel flow. According to the invention, the robustness and reliability of the engine in a working environment can be ensured.

The invention discloses a fault-tolerant variable-pitch constant-power operation control method for a large wind turbine generator. The method comprises the following steps: establishing a controllable affine model of the wind turbine generator considering a variable-pitch actuator fault; according to the controllable affine model, fault-tolerant variable-pitch controllers of variable-pitch actuators of the three blades are constructed, and any fault-tolerant variable-pitch controller is composed of a tracking control ring and a fault-tolerant compensation ring; and each blade variable-pitch actuator drives each blade to perform variable-pitch action by taking a variable-pitch given instruction output by the corresponding fault-tolerant controller as reference input, so that high-reliability constant-power control under a fault is realized. According to the method, extra disturbance introduced by faults can be reduced, the inhibition effect on actual low-frequency wind disturbance is enhanced, the power stability of the unit is remarkably improved, meanwhile, the originally inconsistent blade pitch angles tend to be consistent under the condition that part of actuators have faults, and the fatigue load of the unit introduced by pneumatic unbalance of the wind wheel face is greatly reduced.

The invention is applicable to the technical field of urban sewage treatment, and provides a robust fault-tolerant control method for dissolved oxygen concentration in an urban sewage treatment process, which comprises the following steps of: constructing a control system kinetic model containing faults and disturbance, establishing a nonlinear observer to estimate the faults and the disturbance, and constructing a fuzzy neural network to estimate an unknown nonlinear function. And designing a robust fault-tolerant controller based on self-adaptive dynamic programming, optimizing a control law through strategy iteration, neural network implementation and an experience playback mechanism, and finally realizing dissolved oxygen concentration control by adjusting the aeration rate. Experimental results show that the method can effectively cope with actuator faults and external disturbance, it is ensured that the dissolved oxygen concentration stably tracks the set value, and the robustness of a sewage treatment system and the effluent quality standard-reaching rate are improved.

The application discloses a kind of optimal robust fault-tolerant control methods of quadrotor unmanned aerial vehicle considering external disturbance, determine the attitude dynamics equation of final quadrotor unmanned aerial vehicle, and the augmented equation consisting of tracking error equation and reference equation;According to augmented equation, design a performance index function considering actuator failure and external disturbance, and determine Hamilton equation;Optimal robust fault-tolerant controller is constructed, and Hamilton-Jacobi-Isaacs equation is established;Optimal performance index function is approximated using single evaluation structure neural network, and optimal control input approximation and optimal disturbance input approximation are obtained, which are solved by gradient descent method, to obtain the approximate optimal weight update rate of evaluation neural network;The approximate optimal weight of evaluation neural network is solved, and the final approximate optimal robust fault-tolerant controller is obtained by integrating with optimal robust fault-tolerant controller, to complete the optimal robust fault-tolerant control of quadrotor unmanned aerial vehicle.The application can not only ensure that the system is optimal, but also improve the fault-tolerant capability and robustness of quadrotor unmanned aerial vehicle.

The invention discloses a dynamic event triggering preset time fault-tolerant control method considering a non-affine fault. The method comprises the following steps: carrying out online approximation on an unknown nonlinear term in a dynamic decoupling model by adopting a fuzzy logic system to obtain an optimized system model; constructing a segmented preset time performance function, and introducing an instruction filter based on a dynamic surface control technology to process a virtual control signal of the constructed adaptive virtual control law so as to obtain a filtering error; constructing a dynamic signal compensation mechanism based on the filtering error in combination with a sectional preset time performance function, and obtaining a compensated final tracking error; and constructing a dynamic event triggering mechanism to obtain a final fault-tolerant controller, and realizing dynamic event triggering preset time fault-tolerant control considering the non-affine fault according to the final fault-tolerant controller. According to the method, the technical problems of uncontrollability of convergence time, influence of actuator faults and nonlinearity on control performance and limitation of communication and computing resources in the existing method are solved.

The application discloses a kind of active fault-tolerant control method, controller and computer readable storage medium of flexible joint robot arm, belong to flexible joint robot arm control field, comprising the following steps: S1, derivation obtains system state matrix, control input matrix, measurement output matrix, fault input matrix, external disturbance input matrix;S2, solve augmented error system matrix and augmented disturbance matrix;S3, solve and obtain the state observation gain matrix and fault observation gain matrix of fault observer;S4, extract state matrix, fault change input matrix and external disturbance input matrix;S5, column write nonlinear matrix inequality containing observer gain, controller gain coupling term;S6, obtain fault-tolerant controller state feedback gain and fault observer all gain;S7, build complete online observation-fault-tolerant control closed-loop algorithm.The active fault-tolerant control method, controller and computer readable storage medium of flexible joint robot arm described above realize the high-precision state tracking and fault identification of flexible joint robot arm under actuator gradual failure and multi-frequency external load disturbance.

The invention discloses a flexible building system vibration control method with output constraints and complex faults, and belongs to the field of flexible building system vibration control, and the method comprises the steps: obtaining a flexible building system model, and carrying out the dynamic analysis of the flexible building system model, and obtaining a dynamic analysis data result of the flexible building system; establishing a flexible building system dynamic model through the Hamiltonian principle according to the flexible building system dynamic analysis data result; sequentially carrying out finite dimension processing on the flexible building system dynamic model through a hypothesis modal method and processing a fault part by adopting a median theorem to obtain a simplified flexible building system dynamic model; and executing an event trigger control strategy of a relative threshold strategy on the simplified flexible building system dynamic model to obtain a controller of the flexible building system and an updating law of the controller, and applying the controller of the flexible building system to vibration control of the flexible building system. According to the flexible building system vibration control method with output constraints and complex faults, a fault-tolerant controller based on event triggering is designed for the vibration suppression problem of a nonlinear infinite-dimensional high-rise building. Compared with traditional time triggering, the control method is established on the basis of event triggering based on a relative threshold strategy, the defect of waste of transmission resources is effectively overcome, and sesame behaviors can be avoided.

The application discloses a design method of a fractional order nonlinear system fuzzy fault-tolerant controller for a flexible mechanical arm, and comprises the following steps: constructing a fractional order nonlinear system with external disturbance and actuator fault; estimating a nonlinear part in the fractional order nonlinear system based on a fuzzy logic system; defining a coordinate transformation related to a tracking error; and designing a finite time adaptive fuzzy fault-tolerant controller by combining a fractional order dynamic surface control method with a backstepping method. According to the application, the output of the fractional order nonlinear system can track a reference signal in a finite time, and all signals in the closed loop system are also bounded in the finite time. Finally, the controller is applied to a flexible mechanical arm system.

The application discloses an unmanned ship power positioning integral sliding mode fault-tolerant control method based on a fuzzy system, and comprises the following steps: a mathematical model of unmanned ship movement under an actuator fault is established; a T-S fuzzy model of the unmanned ship corresponding to the mathematical model is established; based on the established T-S fuzzy model of the unmanned ship, an integral sliding mode surface with fault information is constructed; and the asymptotic stability of the sliding mode dynamics of the system is proved by combining the definition of performance index and related lemmas.Aiming at the nonlinear term in the T-S fuzzy model of the unmanned ship, a fuzzy logic method is used to approximate the unknown smooth nonlinear term; based on the constructed integral sliding mode surface with fault information, a suitable Lyapunov function is selected, a fault-tolerant controller and an adaptive law are designed, and the reachability of the system is proved.The application can solve the problem that the resolution and complexity of the T-S model of the unmanned ship are difficult to balance, and can also ensure that the system has robustness from the initial stage.

The application discloses a kind of high-precision indirect signal reconstruction-based wheeled robot system fault-tolerant control method.This method under the interference of external noise, establishes the wheeled robot system containing unknown system state and actuator fault, gives its system output function, constructs indirect variable based on unknown system state and actuator fault, obtains estimation error system.In addition, a distributed fault-tolerant controller containing estimated state and fault is designed to act on the continuous time of system, to ensure that estimation error system is uniformly ultimately bounded, to realize the synchronization of error system.

The application discloses a tracking control method for a multi-degree-of-freedom man-machine cooperation coupling system, relates to the field of multi-degree-of-freedom man-machine cooperation coupling system control, and comprises the following steps: a dynamic model of the multi-degree-of-freedom man-machine cooperation coupling system including actuator faults is established; a state space model is established based on the dynamic model; based on the state space model and a preset expected trajectory of the multi-degree-of-freedom man-machine cooperation coupling system, a tracking error of the multi-degree-of-freedom man-machine cooperation coupling system is obtained; a specified time preset performance function is designed, and a fault-tolerant controller of the multi-degree-of-freedom man-machine cooperation coupling system is established; and based on the tracking error, the multi-degree-of-freedom man-machine cooperation coupling system is controlled through the fault-tolerant controller, so that the tracking error of the multi-degree-of-freedom man-machine cooperation coupling system converges within the specified time, and the controllability and accuracy of the multi-degree-of-freedom man-machine cooperation coupling system are improved.

The invention discloses a specified performance output feedback robust fault-tolerant control method, and the method comprises the steps: firstly building a preliminary model of a control system according to the structure of the control system; secondly, giving out a partial failure coefficient of the actuator, and establishing an actuator fault model; and then considering transmission delay and an actuator fault model, designing a fault-tolerant controller, and introducing specified performance indexes into fault-tolerant control. And finally, establishing a closed-loop system with time lag and faults based on the preliminary model of the fault-tolerant controller and the control system with the introduced specified performance indexes, and completing fault-tolerant control. According to the method, the fault stability is ensured, the performance standard is met, and the controller can obtain good dynamic performance while having certain fault-tolerant capability.

The invention relates to the technical field of multi-unmanned aerial vehicle formation fault tolerance, in particular to a multi-unmanned aerial vehicle formation adaptive fuzzy sliding mode fault tolerance control method, which comprises the steps of S1, establishing a multi-unmanned aerial vehicle formation system dynamic model; s2, defining a formation global position tracking error and a speed tracking error based on a navigation-following architecture and a communication topological structure; s3, designing a disturbance interval observer, and estimating upper and lower bounds of unknown external disturbance in real time by establishing a disturbance exogenous model and an auxiliary variable adaptive law; s4, constructing an integral sliding mode surface based on a preset performance function, performing adaptive approximation on the lumped uncertain item by adopting a fuzzy logic system, and designing an adaptive fuzzy sliding mode fault-tolerant controller; and S5, proving that the formation tracking error is gradually converged to zero in finite time through Lyapunov stability analysis. When the unmanned aerial vehicle breaks down, reliable transmission of task information and formation keeping can be guaranteed, good robustness and environmental adaptability are achieved, and the stable control performance of the unmanned aerial vehicle in a complex task scene is effectively improved.

The application discloses a fault-tolerant controller design method for a robot system, and relates to the field of accurate control and fault processing of the robot system. Firstly, an actuator partial failure fault, model uncertainty and external disturbance are considered, a robot dynamics open-loop system is established, an actuator input saturation nonlinearity is introduced, a control input vector is made to be more consistent with the constraint of an actual physical system, an improved preset performance function with better convergence performance is provided, a terminal sliding mode surface is designed based on a terminal sliding mode framework, and finally, a fixed-time preset performance fault-tolerant controller is designed based on the sliding mode surface. The application can efficiently process the actuator partial failure fault of the robot system, ensure the robustness of the modeling uncertainty and external disturbance of the robot system, effectively improve the dynamic response capability and steady-state control precision of the robot system, improve the safety and reliability of the robot system, and prolong the actual service life of the robot system.

This invention discloses an event-triggered fault-tolerant control method for power systems based on an intermediate observer. This method first uses linearization techniques to establish a dynamic model of a power system that considers electric vehicle integration. Next, an intermediate observer method is designed using augmented states to estimate faults. A dynamic input trigger mechanism consisting of system input and error-dependent trigger parameters is designed to reduce communication transmission frequency. Finally, a fault-tolerant controller is designed to ensure uniformly bounded stability for the power system that considers electric vehicle integration. When applied to a power system that considers electric vehicle integration, this method improves the speed and accuracy of fault estimation, ensuring normal system operation under fault conditions.

The invention provides a control system and a fault-tolerant control method of an electromagnetic bearing, the electromagnetic bearing comprises a radial bearing, an axial bearing, a protective bearing and a sensor, and the control system of the electromagnetic bearing generates electromagnetic force through an actuator comprising a power amplifier and an electromagnetic stator. A rotor is in a rotor suspension state and has four degrees of freedom in the radial direction and one degree of freedom in the axial direction, and a polynomial fault diagnosis observer of a control system executes an adaptive fault estimation algorithm to estimate the coil current loss degree caused by an electromagnetic stator fault. The fault-tolerant controller is used for maintaining the stability and the reliability of the electromagnetic bearing under the abnormal working condition of the electromagnetic conversion link of the actuator; the dynamic quality of the magnetic bearing is optimized, the rotor suspension response is faster, the position tracking precision is improved, and meanwhile, the risks of collision, falling and the like of the rotor and the protection bearing can be avoided under the stator fault working condition.

The application discloses a kind of unmanned helicopter formation fault-tolerant methods under time-varying topology based on all-drive system method, including steps as follows: first, establish the high-order all-drive system model of unmanned helicopter, and divide into position outer loop subsystem and attitude inner loop subsystem;For the composite disturbance of unmanned helicopter actuator failure, external disturbance, design decentralized preset time composite disturbance observer to realize real-time accurate estimation of composite disturbance within preset time and be used for the design of controller;Based on all-drive system theory, preset time formation fault-tolerant controller and attitude tracking fault-tolerant controller are designed for the inner and outer loops of unmanned helicopter.The controller is designed according to all-drive system theory and preset time control method, so that the formation tracking error can reach stable convergence within a predetermined time, improve the maneuvering response speed of unmanned helicopter, and at the same time ensure the stability of multi-unmanned helicopter system under time-varying topology and fault conditions.

The present invention discloses a method for constructing a broadband current sensor array system for partial discharge monitoring of GIS equipment, comprising: determining a dynamic model of the broadband current sensor array system according to the layout position of the broadband current sensor array of the GIS equipment; constructing the broadband current sensor array system according to the dynamic model of the broadband current sensor array system; constructing a control rate of a feedback fault-tolerant controller based on online fault estimation and the broadband current sensor array system; bringing the control rate into an augmented system to determine a system equation of the feedback fault-tolerant controller; establishing stability constraints of the system equation of the feedback fault-tolerant controller, and calculating an optimal gain matrix of the system equation of the feedback fault-tolerant controller by iterating the stability constraints; and constructing a feedback fault-tolerant controller of the broadband current sensor array according to the optimal gain matrix, wherein the feedback fault-tolerant controller is used to identify overvoltage or interference signals and determine the position of a switch device affected by the overvoltage or interference signals.