Finite-time fault-tolerant control method for adaptive multivariable quadrotor UAV

Abstract

The invention relates to the technical field of control of unmanned aerial vehicles, in order to solve the problem of high-precision, fast and stable tracking control of quadrotor UAVs under the influence of rotor failure and unknown interference boundaries, so as to comprehensively improve the control performance of quadrotor UAVs and enhance system security For the purpose of safety and reliability, the present invention, an adaptive multivariable quadrotor UAV finite-time fault-tolerant control method, the steps are as follows: the first step, adaptive finite-time position fault-tolerant controller design; second step, attitude calculation: Based on the flight characteristics of the quadrotor UAV, the analytical relationship between the virtual control command of the position loop and the reference attitude command of the attitude loop is established; the third step is the design of an adaptive finite-time attitude fault-tolerant controller. The present invention is mainly applied to unmanned aircraft control occasions.

Description

Technical field [0001] The present invention relates to the field of unmanned aircraft control, and in particular to a limited time fault-tolerant control field of a four-rotorless drone. Background technique [0002] The four-rotorless drone is a typical variable, strong coupling, non-linear and uncertain, integrated, has a four-rotor drone compared to other aircraft, which is: (1) small size, weight Light, it can take a vertical drop in a variety of complex spaces; (2) Tin-type four-rotor drone flight height is several hundred meters, the flight speed can reach a few tens of meters per second, the motor is strong; (3) Simple structure, Lower cost, convenient disassembly, easy to maintain. Due to the advantages of the four-rotorless drone, it can replace the human entry into certain extreme conditions to perform tasks: military, can be used to perform complex tasks such as low-altitude reconnaissance, electromagnetic interference, target monitoring, etc., can be used for high al...

AI Technical Summary

Problems solved by technology

However, due to the strong nonlinear characteristics of UAVs, the uncertainty of model parameters during flight, and the influence of various complex characteristics such as unmodeled dynamics, it is difficult to obtain the boundaries of UAVs' external disturbances and failure rates accurately in advance.

However, the current fault-tolerant control method based on the adaptive strategy can only achieve asymptotically stable tracking of the reference command, and when the online estimation of the comprehensive interference boundary of the UAV is performed, there is often an overestimation phenomenon (the adaptive gain is much larger in the actual interference boundary), the high gain in this case brings inconvenience to the realization of the UAV controller

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