Prescribed Performance Fault-Tolerant Attitude Tracking Control for UAV with Actuator Faults

被引：8

作者：

Wu, Qilong ^{[1
]}

Zhu, Qidan ^{[1
]}

机构：

[1] Harbin Engn Univ, Coll Intelligent Syst Sci & Engn, Harbin 150001, Peoples R China

来源：

DRONES | 2024年 / 8卷 / 05期

基金：

中国国家自然科学基金;

关键词：

carrier-based unmanned aerial vehicle; attitude control; fixed-time extended state observer; barrier Lyapunov function; OBSERVER; CONSTRAINTS; SPACECRAFT; SYSTEMS; DESIGN;

D O I：

10.3390/drones8050204

中图分类号：

TP7 [遥感技术];

学科分类号：

081102 ; 0816 ; 081602 ; 083002 ; 1404 ;

摘要：

This paper proposes a prescribed performance fault-tolerant control based on a fixed-time extended state observer (FXTESO) for a carrier-based unmanned aerial vehicle (UAV). First, the attitude motion model of the UAV is introduced. Secondly, the proposed FXTESO is designed to estimate the total disturbances including coupling, actuator faults and external disturbances. By using the barrier Lyapunov function (BLF), it is proved that under prescribed performance control (PPC), the attitude tracking error is stable within the prescribed range. The simulation results for tracking the desired attitude angle show that the average overshoot and stabilization time of PPC-FXTESO is 0.00455rad and 6.2s. Comparatively, the average overshoots of BSC-ESO and BSC-FTESO are 0.035rad and 0.027rad, with stabilization times of 14.97s and 12.56s, respectively. Therefore, the control scheme proposed in this paper outperforms other control schemes.

引用

页数：17

共 47 条

[1] Finite- and fixed-time differentiators utilising HOSM techniques [J].

Basin, Michael ;

Yu, Polk ;

Shtessel, Yuri .

IET CONTROL THEORY AND APPLICATIONS, 2017, 11 (08) :1144-1152

[2] Robust Adaptive Control of Feedback Linearizable MIMO Nonlinear Systems With Prescribed Performance [J].

Bechlioulis, Charalampos P. ;

Rovithakis, George A. .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2008, 53 (09) :2090-2099

[3] Finite-time stability of continuous autonomous systems [J].

Bhat, SP ;

Bernstein, DS .

SIAM JOURNAL ON CONTROL AND OPTIMIZATION, 2000, 38 (03) :751-766

[4]

Denham J.W., 54 AIAA AEROSPACE SC, DOI DOI 10.2514/6.2016-1770

[5] Fault Tolerant Control of a Quadrotor Unmanned Aerial Vehicle Based on Active Disturbance Rejection Control and Two-Stage Kalman Filter [J].

Du, Yusheng ;

Huang, Peng ;

Cheng, Yun ;

Fan, Yunlei ;

Yuan, Yinlong .

IEEE ACCESS, 2023, 11 :67556-67566

[6] Online Identification of Aircraft Dynamics in the Presence of Actuator Faults [J].

Emami, S. A. ;

Banazadeh, A. .

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2019, 96 (3-4) :541-553

[7] Finite-Time Prescribed Performance Control for Spacecraft Attitude Tracking [J].

Gao, Shihong ;

Liu, Xiaoping ;

Jing, Yuanwei ;

Dimirovski, Georgi M. .

IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2022, 27 (05) :3087-3098

[8] Actuator and sensor fault estimation based on a proportional multiple-integral sliding mode observer for linear parameter varying systems with inexact scheduling parameters [J].

Gomez-Penate, Samuel ;

Lopez-Estrada, Francisco-Ronay ;

Valencia-Palomo, Guillermo ;

Rotondo, Damiano ;

Guerrero-Sanchez, Maria-Eusebia .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2021, 31 (17) :8420-8441

[9] Spacecraft output feedback attitude control based on extended state observer and adaptive dynamic programming [J].

Gong, Li-Gang ;

Wang, Qing ;

Dong, Chao-Yang .

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2019, 356 (10) :4971-5000

[10] Prescribed performance control for automatic carrier landing with disturbance [J].

Guan, Zhiyuan ;

Ma, Yunpeng ;

Zheng, Zewei ;

Guo, Na .

NONLINEAR DYNAMICS, 2018, 94 (02) :1335-1349

← 1 2 3 4 5 →