Sliding-mode-based adaptive fault-tolerant control method for uncertain time delay system

Abstract

The invention discloses a sliding-mode-based adaptive fault-tolerant control method for an uncertain time delay system. Considering that a quadrotor has an actuator fault under the conditions of inputtime delay and external disturbance, the fault-tolerant control method is proposed by combining adaptive control and sliding mode control. A time delay early predictor is designed to process the input time delay of the system; a matrix full-rank decomposition method and a sliding mode surface design method are adopted to solve the actuator fault problem; an adaptive sliding mode controller replaces a fault detection and isolation mechanism to automatically update and compensate for the actuator fault influence; the asymptotic stability of a closed-loop system is guaranteed with adaptive H2 performance. According to the method, by designing the adaptive sliding mode controller, the online adjustment of controller gain can be achieved, so that the proposed control law is optimal, the control precision and response speed of flight of the quadrotor are effectively improved, and a fault-tolerant controller design basis can be provided for the complex quadrotor with the actuator fault. Themethod is used for performing fault-tolerant control on the quadrotor with input time delay.

Description

technical field [0001] The invention relates to an adaptive fault-tolerant control method of a quadrotor aircraft based on a sliding mode, and belongs to the field of aircraft control. Background technique [0002] In a typical quadrotor helicopter, the four rotors are distributed in a cross shape in front, rear, left and right directions. Each rotor is connected to a DC motor, and the control law controls the rotation speed of the rotor by adjusting the rotation speed of the DC motor, thereby adjusting the lift at the vertices of the four directions. In order to offset the reaction torque generated by the rotation of the rotor, the front and rear are one group, and the left and right are one group. The two groups of rotors rotate in opposite directions, so there is no need to use the tail rotor to eliminate the torque like a conventional single-rotor helicopter. The quadrotor helicopter is a complex controlled object, with various complex problems such as multiple input an...

AI Technical Summary

Problems solved by technology

The 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 disturbances, engine vibrations, etc. during flight. Uncertain factors, coupled with the lack of real-time manipulation of personnel, once the helicopter fails, it will cause serious consequences

However, most of the existing methods are passive fault-tolerant control with a fixed structure, 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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