火力与指挥控制2024，Vol.49Issue(4)：170-176,7.DOI:10.3969/j.issn.1002-0640.2024.04.026
无人机舵面故障高阶滑模重构观测器设计及主动容错控制
The High Order Sliding Mode Reconstruction Observer and Active Fault Tolerant Control Design for UAV Control Surface Fault
刘勇求 1刘晓峰2
作者信息
- 1. 广东科技学院,广东 东莞 523330
- 2. 空军航空大学,长春 130000
- 折叠
摘要
Abstract
An active fault tolerance design method based on the second order nonsingular terminal sliding mode reconstruction observer is proposed for solving the UAV(unmanned aerial vehicle)control surface damage fault tolerant problems.Firstly,the nonlinear characteristic model of typical control surface fault of UAV is constructed based on the analysis of the characteristics of kinematics and dynamics of normal deflection of control surface.Then,the design scheme for the high sliding mode reconstruction observer of UAV control surface fault is proposed,the linear transformation dimensionality reduction is introduced to simplify the observer design procedure,the terminal sliding mode and nonsingular terminal sliding mode are combined together to realize the fast convergence of sliding mode motion in limited time,the adaptive law and linear matrix inequality are synthetized to design the observer coefficient matrices,and to ensure the state estimate deviation bounded and stable.Finally,the active fault tolerance control scheme integrating set state with fault reconstruction is proposed,the effectiveness of the proposed scheme is tested by simulation examples.关键词
舵面故障/二阶非奇异终端滑模/无人机/主动容错/观测器Key words
control surface fault/second order nonsingular terminal sliding mode/UAV/active fault tolerance/observer分类
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刘勇求,刘晓峰..无人机舵面故障高阶滑模重构观测器设计及主动容错控制[J].火力与指挥控制,2024,49(4):170-176,7.
