School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China.
Shanghai Aerospace Control Technology Institute, Shanghai 201109, China.
Sensors (Basel). 2019 Feb 3;19(3):643. doi: 10.3390/s19030643.
The unmanned aerial vehicle (UAV) has been developing rapidly recently, and the safety and the reliability of the UAV are significant to the mission execution and the life of UAV. Sensor and actuator failures of a UAV are one of the most common malfunctions, threating the safety and life of the UAV. Fault-tolerant control technology is an effective method to improve the reliability and safety of UAV, which also contributes to vehicle health management (VHM). This paper deals with the sliding mode fault-tolerant control of the UAV, considering the failures of sensor and actuator. Firstly, a terminal sliding surface is designed to ensure the state of the system on the sliding mode surface throughout the control process based on the simplified coupling dynamic model. Then, the sliding mode control (SMC) method combined with the RBF neural network algorithm is used to design the parameters of the sliding mode controller, and with this, the efficiency of the design process is improved and system chattering is minimized. Finally, the Simulink simulations are carried out using a fault tolerance controller under the conditions where accelerometer sensor, gyroscope sensor or actuator failures is assumed. The results show that the proposed control strategy is quite an effective method for the control of UAVs with accelerometer sensor, gyroscope sensor or actuator failures.
近年来，无人机（UAV）发展迅速，其安全性和可靠性对任务执行和无人机的生命安全至关重要。无人机的传感器和执行器故障是最常见的故障之一，威胁着无人机的安全和生命。容错控制技术是提高无人机可靠性和安全性的有效方法，也有助于实现飞行器健康管理（VHM）。本文针对考虑传感器和执行器故障的无人机，研究了滑模容错控制问题。首先，基于简化的耦合动力学模型，设计了终端滑模面，以确保系统在控制过程中的状态始终处于滑模面上。然后，采用滑模控制（SMC）方法结合 RBF 神经网络算法，设计滑模控制器的参数，从而提高设计过程的效率，最小化系统抖振。最后，在假设加速度计传感器、陀螺仪传感器或执行器故障的情况下，使用容错控制器在 Simulink 中进行了仿真。结果表明，所提出的控制策略对于控制加速度计传感器、陀螺仪传感器或执行器故障的无人机是一种非常有效的方法。
