计算机应用与软件2025，Vol.42Issue(4)：51-56,6.DOI:10.3969/j.issn.1000-386x.2025.04.009
快速终端滑模的共轴多旋翼无人机容错控制
FAULT-TOLERANT CONTROL OF COAXIAL MULTI-ROTOR UAV BASED ON FAST TERMINAL SLIDING-MODE
摘要
Abstract
To improve the trajectory tracking accuracy of coaxial multi-rotor UAV under airflow disturbance and rotor fault,a fast terminal sliding-mode fault-tolerant control method is proposed.The fault model of a coaxial 12-rotor UAV was established.A fast terminal sliding-mode control law with a motion loop was designed to convert the trajectory command into the velocity command,and the air flow disturbance and rotor fault were estimated by using the sliding-mode adaptive law and the sliding-mode observer respectively.A fast terminal sliding-mode fault-tolerant control law was designed for the speed loop to achieve high precision of the coaxial 12-rotor UAV trajectory tracking.The simulation results show that the proposed method can compensate for the rotor fault and airflow disturbance more effectively,compared with the integrated sliding-mode fault-tolerant control method,and the maximum trajectory tracking error is only 0.3 m,which can accurately estimate the rotor fault within 0.2 s,and the maximum air disturbance estimation error is only 0.2 m/s2,which has great trajectory tracking effect.关键词
无人机/旋翼故障/气流扰动/快速终端滑模/容错控制Key words
UAV/Rotorfault/Airflow disturbance/Fast terminal sliding-mode/Fault-tolerant control分类
信息技术与安全科学引用本文复制引用
张启亚,刘婷婷,宋家友..快速终端滑模的共轴多旋翼无人机容错控制[J].计算机应用与软件,2025,42(4):51-56,6.基金项目
河南省科技攻关项目(212102210150) （212102210150）
西亚斯学院校级项目(2019-YB-42). （2019-YB-42）
