This paper proposes an L_(1)adaptive fault tolerant control method for trajectory tracking of tail-sitter aircraft in the state of motor loss fault.The tail-sitter model considers the uncertainties produced by the fea...This paper proposes an L_(1)adaptive fault tolerant control method for trajectory tracking of tail-sitter aircraft in the state of motor loss fault.The tail-sitter model considers the uncertainties produced by the features of nonlinearities and couplings which cause difficulties in control.An L_(1)adaptive controller is designed to reduce the position and attitude error when actuators have faults.A reference trajectory containing large maneuver flight transitions is designed,which makes it even harder for the L_(1)controller to track accurately.Compensators are designed to assist L_(1)adaptive controller tracking of the reference trajectory.The stability of the L_(1)adaptive controller including compensators is proved.Finally,the simulation results are used to analyse the effectiveness of the proposed controller.Compared to the H∞controller,the L_(1)adaptive controller with compensators has better performance in position control and attitude control under fault tolerance state even when the aircraft conducts large maneuver.Besides,as the L_(1)adaptive control method separates feedback control and adaptive law design,the response speed of the whole system is improved.展开更多
在飞行器参数变化时,L_(1)自适应控制相对于传统比例积分微分(proportional integral derivative,PID)控制方法具有理想的控制效果。针对某型存在参数不确定性的无人机,建立了无人机横侧向动力学模型,在对L_(1)自适应控制理论进行研究...在飞行器参数变化时,L_(1)自适应控制相对于传统比例积分微分(proportional integral derivative,PID)控制方法具有理想的控制效果。针对某型存在参数不确定性的无人机,建立了无人机横侧向动力学模型,在对L_(1)自适应控制理论进行研究的基础上,分别设计了L_(1)自适应控制律和比例微分(proportional derivative,PD)控制律,通过算例仿真,对比分析了这两种控制律对无人机滚转角的控制效果。结果表明,L_(1)自适应控制律具有良好的抗飞行器参数变化能力,鲁棒性强,对无人机飞行控制系统设计具有重要的参考价值。展开更多
基金supported by the National Natural Science Foundation of China(61873012)。
文摘This paper proposes an L_(1)adaptive fault tolerant control method for trajectory tracking of tail-sitter aircraft in the state of motor loss fault.The tail-sitter model considers the uncertainties produced by the features of nonlinearities and couplings which cause difficulties in control.An L_(1)adaptive controller is designed to reduce the position and attitude error when actuators have faults.A reference trajectory containing large maneuver flight transitions is designed,which makes it even harder for the L_(1)controller to track accurately.Compensators are designed to assist L_(1)adaptive controller tracking of the reference trajectory.The stability of the L_(1)adaptive controller including compensators is proved.Finally,the simulation results are used to analyse the effectiveness of the proposed controller.Compared to the H∞controller,the L_(1)adaptive controller with compensators has better performance in position control and attitude control under fault tolerance state even when the aircraft conducts large maneuver.Besides,as the L_(1)adaptive control method separates feedback control and adaptive law design,the response speed of the whole system is improved.
文摘在飞行器参数变化时,L_(1)自适应控制相对于传统比例积分微分(proportional integral derivative,PID)控制方法具有理想的控制效果。针对某型存在参数不确定性的无人机,建立了无人机横侧向动力学模型,在对L_(1)自适应控制理论进行研究的基础上,分别设计了L_(1)自适应控制律和比例微分(proportional derivative,PD)控制律,通过算例仿真,对比分析了这两种控制律对无人机滚转角的控制效果。结果表明,L_(1)自适应控制律具有良好的抗飞行器参数变化能力,鲁棒性强,对无人机飞行控制系统设计具有重要的参考价值。
