Yan Kun, Wu Qingxian
College of Electronic Information Engineering, Xi'an Technological University, Xi'an 710021, China.
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China.
ISA Trans. 2022 Sep;128(Pt B):32-46. doi: 10.1016/j.isatra.2021.11.012. Epub 2021 Nov 23.
In this study, a robust adaptive flight controller is developed to achieve anticipant trajectory tracking performance for a medium-scale unmanned autonomous helicopter (UAH) with external disturbances, actuator faults and full state constraints. The flapping dynamics of the main rotors is taken into consideration in the modeling process. The adaptive method is employed to handle the unknown bounded disturbances. A novel fault tolerant control (FTC) strategy is proposed to cope with actuator faults, which can effectively overcome the singularity problem in many adaptive estimation approaches by using projection function. Meanwhile, a suitable barrier Lyapunov function (BLF) is constructed to refrain from the violation of the state constraints. Combining with the backstepping technique, the four control inputs of the medium-scale UAH system are designed in sequence. Via the Lyapunov analysis, it is proved that all error signals in the closed-loop system converge to a small neighborhood around zero. Simulation studies are carried out to reveal the validity of the presented approach.
在本研究中，开发了一种鲁棒自适应飞行控制器，以实现中尺度无人自主直升机（UAH）在存在外部干扰、执行器故障和全状态约束情况下的预期轨迹跟踪性能。建模过程中考虑了主旋翼的挥舞动力学。采用自适应方法处理未知有界干扰。提出了一种新颖的容错控制（FTC）策略来应对执行器故障，该策略通过使用投影函数能够有效克服许多自适应估计方法中的奇异性问题。同时，构造了合适的障碍Lyapunov函数（BLF）以避免违反状态约束。结合反步技术，依次设计了中尺度UAH系统的四个控制输入。通过Lyapunov分析，证明了闭环系统中的所有误差信号都收敛到零附近的一个小邻域内。进行了仿真研究以揭示所提方法的有效性。
