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OA北大核心CSTPCD

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.