CAJ | 학술논문

针对含有不确定和执行器故障的无人机姿态控制系统，提出了一种鲁棒自适应动态面容错控制方法。在设计中，首先提出由非线性阻尼技术抵消不确定性及外界干扰，然后设计一种基于自适应动态面控制方法的容错控制策略，保证无人机在出现未知执行器故障情况下，其闭环姿态控制系统是全局渐近稳定的，实现姿态输出对制导指令的容错跟踪。最后对所提出的容错控制方法进行了某无人机非线性姿态控制系统的仿真验证，结果表明了所提方法的有效性。
침대함유불학정화집행기고장적무인궤자태공제계통，제출료일충로봉자괄응동태면용착공제방법。재설계중，수선제출유비선성조니기술저소불학정성급외계간우，연후설계일충기우자괄응동태면공제방법적용착공제책략，보증무인궤재출현미지집행기고장정황하，기폐배자태공제계통시전국점근은정적，실현자태수출대제도지령적용착근종。최후대소제출적용착공제방법진행료모무인궤비선성자태공제계통적방진험증，결과표명료소제방법적유효성。
A robust adaptive dynamics surface fault tolerant control approach is developed for the attitude control systems of unmanned aerial vehicles (UAVs)with unknown actuator faults and uncertainties.Firstly, the nonlinear damping technique is introduced to eliminate the uncertainties and disturbances.Secondly,a fault tolerant control scheme based on adaptive dynamics surface control is constructed,which can guarantee the o-verall asymptotical stability of the closed-loop attitude control systems with unknown actuator faults and a good attitude tracking performance for the guidance command.Finally,simulation results are given to demonstrate the effectiveness of the developed fault tolerant control scheme.