Fault tolerant control method of four-rotor-wing aircraft based on optimal sliding mode

Abstract

The invention discloses a fault tolerant control method of a four-rotor-wing aircraft based on an optimal sliding mode. The optimal fault tolerant control method is provided by considering time lag caused by wireless network transmission, aiming at actuator faults of the four-rotor-wing aircraft and combining optimal control and sliding mode control. According to the fault tolerant control method, a sliding mode surface with time lag compensation is designed, and sufficient conditions of asymptotical stability of an ideal sliding mode is given by utilizing a linear matrix inequality principle; an optimal control concept is introduced, and quadratic form optimal performance indexes are adopted; and the sliding model control is combined to finally form a complete fault tolerant controller. According to the method disclosed by the invention, the sliding mode surface with the time lag compensation is configured and influences caused by the time lag can be eliminated; the quadratic form optimal performance indexes are designed so that a control rule of a nominal system can be optimized; and the control precision of the four-rotor-wing aircraft is effectively improved, and design evidences of the fault tolerant controller are provided for a complicated four-rotor-wing aircraft with the actuator faults. The fault tolerant control method is used for carrying out passive fault tolerant control on the four-rotor-wing aircraft with the time invariant time lag.

Description

technical field [0001] The invention relates to a fault-tolerant control method of a quadrotor aircraft based on an optimal sliding mode, and belongs to the field of aircraft fault diagnosis and fault-tolerant control. Background technique [0002] There are many types of helicopters, mainly including: single-rotor helicopters, dual-rotor helicopters (tandem, transverse) and quadrotor helicopters. Among them, the quadrotor helicopter, as a new branch of helicopter development, is different in structure and flight principle from traditional helicopters. It has two sets of propellers, front and rear, and left and right. The lift force can be changed by changing the propeller, and then the position and attitude can be changed. It can easily achieve vertical takeoff and landing, hovering, lateral and longitudinal flight and other actions. Compared with conventional layout helicopters, the structure is simpler, and the anti-torque torque generated by the four rotors can cancel e...

AI Technical Summary

Problems solved by technology

Quadrotor helicopter is a complex controlled object, which has various complex problems such as multiple input and multiple output, nonlinearity, strong coupling, time delay, etc., and it will inevitably encounter wind disturbance and engine vibration during flight. Uncertain factors, coupled with the lack of human real-time control, once the helicopter fails, it will cause catastrophic consequences

[0006] Existing methods cannot fully consider various factors that may exist in the actual system, such as time lag, uncertainty, faults, etc., and it is difficult to have a good control effect on complex flight control systems, so the present invention has good practicability

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