摘要
首先利用牛顿-欧拉运动定理对四旋翼无人机进行数学建模,针对无人机执行器,在同时考虑了执行器故障和饱和的情况下,提出了一种基于线性矩阵不等式的自适应容错控制器的设计方法,该设计方法可以实现自适应容错控制器的在线调节。并且给出了一种传统的固定增益控制器的设计方法。通过实验结果对比,发现自适应容错控制器对比固定增益控制器具有对四旋翼无人机执行器更好的控制效果。并通过Matlab仿真实验验证了这种自适应容错控制器的有效性。
Firstly the Newton-Eulerian motion theorem is used to mathematically model the quadrotor UAV.For the UAV actuator,a linear matrix inequality based adaptation is proposed while considering the actuator failure and saturation.The design method of the fault-tolerant controller,which can realize the online adjustment of the adaptive fault-tolerant controller.And a traditional design method of fixed gain controller is given.Comparing the experimental results,it is found that the adaptive fault-tolerant controller has better control effect on the quadrotor UAV actuator than the fixed gain controller.The effectiveness of this adaptive fault-tolerant controller is verified by Matlab simulation experiments.
作者
关威
史沛
任艳
GUAN Wei;SHI Pei;REN Yan(School of Automation,Shenyang Aerospace University,Shenyang 110136,China)
出处
《沈阳航空航天大学学报》
2019年第4期49-53,共5页
Journal of Shenyang Aerospace University
基金
国家自然科学基金(项目编号:61602321)
辽宁省自然科学基金(项目编号:20170540692,20170540694)
航空科学基金(项目编号:2017ZA54006)
