Adaptive sliding mode fault tolerant control of UAV considering input and output constraints

被引：2
|
作者：
Ding Y. [1 ]
Yu Z. [1 ]
机构：
[1] Electronic Engineering College, Heilongjiang University, Harbin
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2020年 / 42卷 / 10期
关键词：
Auxiliary system; Backstep control; Barrier Lyapunov function; Double interference suppression; Sliding mode control;
D O I：
10.3969/j.issn.1001-506X.2020.10.24
中图分类号：
学科分类号：
摘要：
An adaptive sliding mode attitude fault tolerant control method based on backstepping method for unmanned aerial vehicle (UAV) attitude control system under input and output constraints is proposed. In order to restrain the influence of the actuator failure and external interference, the adaptive and interference observer technology is used to achieve the dual interference suppression. The dynamic auxiliary system and barrier Lyapunov function is designed. It is proved that under the condition of the input saturation and state constraint, the control input signal can still effectively control the system. The closed-loop attitude control system can be stable in finite time and all signals are ultimately bounded. Finally, the performance simulation and comparative simulation of the attitude tracking problem of the small unmanned helicopter system are carried out. Simulation results show that the proposed fault-tolerant control method can effectively guarantee the effectiveness of the control system when the actuator fails, and the method has good performance. © 2020, Editorial Office of Systems Engineering and Electronics. All right reserved.
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页码：2340 / 2347
页数：7
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