Unknown input observer based fault diagnosis method for minitype unmanned aerial vehicle distributed formation

Abstract

The invention provides an unknown input observer based realization method of fault diagnosis for a minitype unmanned aerial vehicle distributed formation. According to a hierarchical concept of a distributed control system, controller designs of the single unmanned aerial vehicle and multi unmanned aerial vehicle formation are studied to ensure the flight stability of the minitype unmanned aerialvehicle distributed formation. When a fault of a single unmanned aerial vehicle final controlling element occurs, an effective unknown input observer distributed system fault detection method is provided, which completely decouples interference and completely eliminates adverse effects of the external interference on a fault diagnosis process. Furthermore, a method to estimate the fault by extending a state vector and a fault vector into an augmented vector is provided. According to the invention, the conventional unknown input observer is combined with an augmented system to realize fault detection, separation and estimation of the minitype unmanned aerial vehicle distributed formation. According to known minitype unmanned aerial vehicle model parameters, a numerical simulation can be established to carry out fault diagnosis on the final controlling element. The fault diagnosis method is used for fault diagnosis of a minitype unmanned aerial vehicle distributed formation.

Description

technical field [0001] The invention relates to a small unmanned aerial vehicle formation fault diagnosis method based on interference decoupling of an unknown input observer, and belongs to the technical field of formation systems. Background technique [0002] In recent decades, UAV technology has developed relatively mature and has been widely used in military and civilian fields. As one of the core concepts, UAV formation flight technology has attracted more and more attention. Therefore, in practical applications, the attack or damage from the outside and the failure of the internal actuators of the system may seriously affect the performance of the system. In order to prevent or reduce the impact of external interference on the system, so that the entire UAV formation can operate effectively and safely, effective fault diagnosis methods are essential. In a distributed system, the centralized fault diagnosis method will be constrained by the information transmission b...

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Problems solved by technology

[0004] In the distributed UAV formation system, because the centralized fault diagnosis method will be constrained by the limited computing power and communication bandwidth of a single computing node, as well as the complex structure of the system and the time delay of transmission signals, the relationship between each link of the system The coupling relationship is intricate and other issues, and the fault diagnosis problem of distributed systems is challenging

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