摘要
In this paper,an active fault-tolerant control(FTC)strategy of aerial manipulators based on non-singular terminal sliding mode(NTSM)and extended state observer(ESO)is proposed.Firstly,back-stepping technology is adopted as the control framework to ensure the global asymptotic stability of the closed-loop system.Next,the NTSM with estimated parameters of actuator faults is used as main robustness controller to deal with actuator faults.Then,the ESO is utilized to estimate and compensate the complex coupling effects and external disturbances.The Lyapunov stability theory can guarantee the asymptotic stability of aerial manipulators system with actuator faults and external disturbances.The proposed FTC scheme considers both actuator fault and modelling errors,combined with the adaptive law of actuator fault,which has better performance than traditional FTC scheme,such as NTSM.Finally,several comparative simulations are conducted to illustrate the effectiveness of the proposed FTC scheme.
本文提出了一种基于非奇异终端滑模和扩展状态观测器的飞行机械臂主动容错控制方法。首先,采用反演技术作为闭环控制框架,保证系统的全局稳定性。其次,采用自适应非奇异终端滑模作为执行器故障下的鲁棒控制器。然后,利用扩展状态观测器对复杂的耦合效应和外部干扰进行估计和补偿。李雅普诺夫稳定性理论可以保证具有执行器故障和外部干扰的飞行机械臂系统的渐近稳定性。本文提出的主动容错控制方案综合考虑了执行器故障和建模误差,并结合执行器故障的自适应律,其性能优于传统的容错控制方法。最后,通过多个仿真对比,验证了所提出的主动容错控制方案的有效性。
作者
DING Ya-dong
WANG Yao-yao
JIANG Su-rong
CHEN Bai
丁亚东;王尧尧;蒋素荣;陈柏(National Key Laboratory of Science and Technology on Helicopter Transmission,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;The State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310027,China)
基金
Project(51705243)supported by National Natural Science Foundation of China
Project(NS2020052)supported by the Fundamental Research Funds for the Central Universities,China
Project(GZKF-201915)supported by the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems,China。
作者简介
Corresponding author:王尧尧,PhD,Associate Professor,Tel:+86-25-84892503,E-mail:yywang_cmee@nuaa.edu.cn,ORCID:https://orcid.org/0000-0001-5237-378X;Corresponding author:蒋素荣,PhD,Lecture,Tel:+86-25-84892503,E-mail:jsrong@nuaa.edu.cn,ORCID:https://orcid.org/0000-0001-6893-406X。
