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Finite-time fault-tolerant control method of quadrotor formation based on sliding mode control technology

A fault-tolerant control and control technology technology, applied in the control/regulation system, non-electric variable control, three-dimensional position/channel control and other directions, can solve the problems of poor rapidity and slow response speed, and achieve the effect of improving the effect

Active Publication Date: 2020-04-21
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

At present, the predecessors have used the integral sliding mode control method to stabilize and fault-tolerant control the attitude angle of the spacecraft, and have obtained better steady-state performance, but the response speed of this method is slow and the rapidity is poor

Method used

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  • Finite-time fault-tolerant control method of quadrotor formation based on sliding mode control technology
  • Finite-time fault-tolerant control method of quadrotor formation based on sliding mode control technology
  • Finite-time fault-tolerant control method of quadrotor formation based on sliding mode control technology

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[0107] In the present invention, assuming that the simulation time is 200s, consider the situation that the quadrotor aircraft is disturbed, that is, in (4) formula

[0108] And consider that No. 2 aircraft has additive and multiplicative faults in the process of operation, and No. 1 and No. 3 aircraft have no faults during operation. The time and size of the actuator failure of No. 2 aircraft are as follows:

[0109]

[0110] For verifying the effect of fault-tolerant control method of the present invention, Simulink in the application MATLAB carries out simulation verification, and simulation result is as follows:

[0111] image 3 It shows the tracking effect of the inner loop subsystem on the desired attitude. Because the expected attitude angle given by the outer loop changes, there is a certain tracking error. but by image 3 It can be seen that the tracking error is small and the convergence speed is fast.

[0112] from Figure 4 , Figure 5 , Figure 6 It is...

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Abstract

The invention discloses a sliding mode control technology based four-rotor formation finite time fault-tolerant control method. The method includes establishing the mathematic models of aircrafts in a four-rotor formation system, and decoupling the mathematic models into inner ring attitude subsystems and outer ring location subsystems; designing inner ring attitude tracking fault-tolerant control laws according to the attitude models of the four-rotor aircrafts under failure situations; designing the control laws of the outer ring location subsystems according to four-rotor formation system information and a control target; and obtaining expected attitudes of inner rings according to the control laws of the outer ring location subsystems so that the attitudes of the aircrafts can track the expected attitudes of the inner rings and fault-tolerant control can be realized. The method can completely eliminate adverse effects of external disturbance on formation control on the theoretical level, and the fault-tolerant control of the appearance of actuator failure at any node or the simultaneous appearance of actuator failure at multiple nodes in the four-rotor aircraft formation can be realized.

Description

technical field [0001] The invention relates to a limited-time fault-tolerant control method for a four-rotor formation based on sliding mode control technology, and belongs to the technical field of aircraft fault-tolerant control. Background technique [0002] Quadrotor aircraft is a rotor unmanned aerial vehicle. Compared with fixed-wing unmanned aerial vehicles, although the flight speed of quadrotor aircraft is slower, the control method is simple. Just change the speed of the four rotors of the quadrotor aircraft to achieve attitude and position. Control; flexible, can hover, take off and land is almost not limited by the site, low price, small size. Because of the many advantages mentioned above, quadrotor aircraft has shown its irreplaceable role in agricultural supervision, power line inspection, fire monitoring, logistics transportation, aerial photography, military and other fields. [0003] In recent years, with the increasing development of automation technolog...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 张柯马人月姜斌陈谋盛守照甄子洋
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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