Robust fault tolerant control method for multi-time-delay quadrotor helicopter flight control system

Abstract

The invention discloses a robust fault tolerant control method for a multi-time-delay quadrotor helicopter flight control system. On the condition that a sensor breaks down, a quasi-integral type sliding mode prediction model with global robustness is constructed. On the basis of a particle swarm optimization algorithm, the rolling optimization process is improved, and the convergence rate is increased. Due to a reference trajectory containing compensation terms, and poor influences caused by system uncertainty, multiple time delays and sensor faults on the system performance are restrained. The method is used for robust fault tolerant control of a sensor fault uncertain discrete system with state time delay and input time delay.

Description

technical field [0001] The invention relates to a robust fault-tolerant control method for a multi-time-delay quadrotor helicopter flight control system, and belongs to the technical field of robust fault-tolerant control of time-delay uncertain discrete systems. Background technique [0002] As an emerging interdisciplinary subject, fault-tolerant control is meant to try to ensure that the dynamic system can still run stably when a fault occurs, and has acceptable performance indicators. If the failure of actuators, sensors and other components cannot be dealt with in time, the system will work in an unpredictable way, and even lead to catastrophic consequences. Therefore, fault-tolerant control has become an urgent research topic. [0003] Although the fault-tolerant control method based on sliding mode has been greatly developed, its handling of various input constraints and delays is often difficult to meet the high requirements of the actual system for rapidity. In res...

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Problems solved by technology

[0004] The existence of time lag will cause the performance of system fault-tolerant control to be significantly reduced, and even the system will be unstable. Therefore, system fault-tolerant control with time lag has always been a difficult problem in the field of control.

At present, some scholars have begun to study the problem of fault-tolerant control with state time-delay. However, the research and application of fault-tolerant control for uncertain systems with input time-delay and multiple time-delays have not paid much attention. Sliding mode predictive fault-tolerant control methodological research is even less

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