信息与控制2025，Vol.54Issue(4)：570-582,13.DOI:10.13976/j.cnki.xk.2024.2651
四旋翼无人机RBF-SMO容错抗扰位姿跟踪控制
Fault-tolerant Disturbance Rejection Pose Tracking Control for Quadrotor UAV Based on RBF-SMO
摘要
Abstract
The quadrotor UAV is easily-influenced to actuator failure faults and unknown environmental disturbances during the practical flight,which severely affects the safety of the flight.Therefore,a novel composite fault-tolerant pose tracking control strategy is proposed for the dynamics of quadro-tor UAV with the time-varying actuator faults and the time-varying external disturbances.In the position loop,a PD(Proportional-Derivative)control strategy is designed to achieve the position tracking control for quadrotor UAV.In the attitude loop,by combining an adaptive neural network with a fixed-time sliding mode observer(SMO),a composite fault-tolerant pose tracking control strategy is designed.A radial basis function(RBF)neural network is used to compensate for time-varying actuator faults in real time.Meanwhile,to overcome the impact of external disturbances on UAV flight performance,an SMO is designed to compensate for time-varying external unknown disturbances in real time and to reduce system chattering.Finally,the stability of the closed-loop system is proven based on Lyapunov analysis theory.The numerical simulation results demonstrate that the proposed composite fault-tolerant pose tracking control strategy exhibits faster convergence speed,higher pose tracking accuracy,and stronger fault-tolerant control performance compared to the traditional PID(Proportional-Integral-Derivative)control strategy.关键词
四旋翼无人机/RBF自适应神经网络/滑模观测器/复合容错抗扰/位姿跟踪Key words
quadrotor UAV/RBF adaptive neural network/sliding mode observer/composite fault-tolerant disturbance rejection/pose tracking分类
信息技术与安全科学引用本文复制引用
古训,王鹏博..四旋翼无人机RBF-SMO容错抗扰位姿跟踪控制[J].信息与控制,2025,54(4):570-582,13.基金项目
贵州省基础研究(自然科学)项目(黔科合基础-ZK[2023]一般011) （自然科学）
贵阳学院博士科研启动项目(GYU-KY-[2025]) （GYU-KY-[2025]）
