Safety Flight Control Design of a Quadrotor UAV With Capability Analysis

被引：38

作者：

Zhou, Xiaobin ^{[1
,2
]}

Yu, Xiang ^{[3
]}

Guo, Kexin ^{[4
]}

Zhou, Sicheng ^{[3
]}

Guo, Lei ^{[3
]}

Zhang, Youmin ^{[5
]}

Peng, Xiaoyan ^{[1
,2
]}

机构：

[1] Hunan Univ, State Key Lab Adv Design & Mfg Vehicle Body, Changsha 410072, Hunan, Peoples R China

[2] Hunan Univ, Coll Mech & Vehicle Engn, Changsha 410072, Hunan, Peoples R China

[3] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China

[4] Beihang Univ, Sch Aeronaut Sci & Engn, Beijing 100191, Peoples R China

[5] Concordia Univ, Dept Mech Ind & Aerosp Engn, Montreal, PQ H3G 1M8, Canada

来源：

IEEE TRANSACTIONS ON CYBERNETICS | 2023年 / 53卷 / 03期

基金：

加拿大自然科学与工程研究理事会; 中国国家自然科学基金;

关键词：

Safety; Actuators; Trajectory; Rotors; Unmanned aerial vehicles; Pulse width modulation; Vehicle dynamics; Actuator faults; dynamic surface control (DSC); safety control; system capability analysis; trajectory regeneration; FAULT-TOLERANT CONTROL; SLIDING MODE CONTROL; HELICOPTER SUBJECT; SYSTEMS; OBSERVER;

D O I：

10.1109/TCYB.2021.3113168

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article considers the safety control problem of a quadrotor unmanned aerial vehicle (UAV) subject to actuator faults and external disturbances, based on the quantization of system capability and safety margin. First, a trajectory function is constructed online with backpropagation of system dynamics. Therefore, a degraded trajectory is gracefully regenerated, via the tradeoff between the remaining system capability and the expected derivatives (velocity, jerk, and snap) of the trajectory. Second, a control-oriented model is established into a form of strict feedback, integrating actuator malfunctions and disturbances. Therefore, a retrofit dynamic surface control (DSC) scheme based on the control-oriented model is developed to improve the tracking performance. When comparing to the existing control methods, the compensation ability is analyzed to determine whether the faults and disturbances can be handled or not. Finally, simulation and experimental studies are conducted to highlight the efficiency of the proposed safety control scheme.

引用

页码：1738 / 1751

页数：14