Novel sliding-mode prediction fault-tolerant control algorithm for uncertain multi-time-lag four-rotor system under actuator fault

Abstract

The invention discloses a novel sliding-mode prediction fault-tolerant control algorithm for a discrete uncertain multi-time-lag four-rotor system under an actuator fault. For the fault-tolerant control problem of the discrete uncertain multi-time-lag four-rotor system under the condition that the actuator fault exists, firstly, a quasi-integral sliding mode surface is designed to serve as a prediction model to eliminate an approaching mode, so that the global robustness is guaranteed; secondly, aiming at the actuator fault and multiple time lags, an improved fault compensation double-power function reference track is designed, so that the influence of the time lags on the system is weakened, and the fault-tolerant control precision is improved; and thirdly, an improved inverse time limitcoyote optimization algorithm (ICOA) is designed for rolling optimization, so that while a good convergence rate is obtained, the situation that local extremum is caught in the optimization process isavoided, and the local development and global search performances are balanced. The fault-tolerant control algorithm is used for robust fault-tolerant control of the multi-time-lag discrete uncertainsystem with the actuator fault.

Description

technical field [0001] The invention relates to a sliding mode predictive fault-tolerant control method based on an improved coyote optimization algorithm (ICOA) designed for a multi-time-delay quadrotor system with actuator faults, and belongs to the technical field of robust fault-tolerant control for discrete uncertain systems. Background technique [0002] In recent years, with the rapid development of artificial intelligence and industrial technology, the demand for fault-tolerant control systems with superior performance and robustness that can cope with various disturbances and faults is also increasing. The most critical part of these control systems is the intelligent algorithm. Nowadays, more and more advanced intelligent algorithms have been successfully applied to specific control systems, and they exhibit superior performance. However, during the long-term operation of smart devices, some failures are inevitable. Faults will have harmful effects on the control...

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Problems solved by technology

According to the current research status, researchers mostly study the problem of fault-tolerant control of systems with single time-delay (generally state time-delay), but the research on the fault-tolerant problem of uncertain multi-time-delay systems with actuator failures has not yet been carried out. deep enough

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