输入输出受限的无人机防滑刹车系统容错控制

doi:10.13700/j.bh.1001-5965.2016.0438

北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (6): 1132-1140.doi: 10.13700/j.bh.1001-5965.2016.0438

输入输出受限的无人机防滑刹车系统容错控制

孙辉, 闫建国, 屈耀红

西北工业大学自动化学院, 西安 710072

收稿日期:2016-05-23 出版日期:2017-06-20 发布日期:2016-09-12
通讯作者: 闫建国,E-mail:yjg0311@nwpu.edu.cn E-mail:yjg0311@nwpu.edu.cn
作者简介:孙辉男,博士研究生。主要研究方向:无人机机电系统容错控制;闫建国男,博士,教授。主要研究方向:导航制导与飞行控制、计算机控制;屈耀红男,博士,副教授。主要研究方向:组合导航及在线风场估计、容错定位。
基金资助:
国家自然科学基金（60974146，61473229）

Fault-tolerant control of UAV anti-skid braking system with input and output constraints

SUN Hui, YAN Jianguo, QU Yaohong

College of Automation, Northwestern Polytechnical University, Xi'an 710072, China

Received:2016-05-23 Online:2017-06-20 Published:2016-09-12
Supported by:
National Natural Science Foundation of China (60974146，61473229)

摘要/Abstract

摘要： 针对无人机防滑刹车系统工作过程中同时出现系统输出滑移率稳定区域受限、控制输入饱和与刹车执行机构故障的多重约束问题，提出了一种基于障碍Lyapunov形式的自适应神经网络反演容错控制器的设计方法。当刹车执行机构发生故障时，通过自适应神经网络补偿刹车系统中的非线性及不确定项。根据反演设计原理，应用神经网络输出设计相应的容错控制律，同时，在控制器的设计中引入鲁棒切换控制项，优化系统快速容错的暂态性能。首先本文设计的容错控制器无需精确获取执行机构在线故障的重构信息，也能使刹车闭环系统能够快速稳定，然后基于Lyapunov方法分析了系统的稳定性，最后通过数值仿真结果表明，所提出的容错控制算法能够有效地保证刹车执行机构故障时控制系统的稳定性和有效性。

关键词: 防滑刹车, Lyapunov, 容错控制, 执行机构故障, 输入输出受限

Abstract: In this paper, a method of adaptive neural network backstepping fault-tolerant control, based on barrier Lyapunov function, is proposed for anti-skid braking system in the presence of slip-ratio constraint, control input saturation and partial loss of actuator effectiveness. The neural network can more accurately approximate the unknown nonlinearity in order to compensate the effect of actuator fault, and the great robustness to actuator fault is guaranteed. In this approach, the output of neural network is used to design the backstepping controller to achieve fault-tolerant control and uncertainty compensation, and a robust term is employed to optimize the transient performance of braking system. Firstly, the closed-loop fault-tolerant control system could be stable without the reconfiguration value of actuator fault in real time. Then, the stability of the system is analyzed based on the Lyapunov method. Finally, the numerical simulation results show that the proposed fault-tolerant control scheme can effectively guarantee the stability and effectiveness of the control system when the actuator happens faulty.

Key words: anti-skid braking, Lyapunov, fault-tolerant control, actuator fault, input and output constraints

中图分类号:

TP237
V227

孙辉, 闫建国, 屈耀红. 输入输出受限的无人机防滑刹车系统容错控制[J]. 北京航空航天大学学报, 2017, 43(6): 1132-1140.

SUN Hui, YAN Jianguo, QU Yaohong. Fault-tolerant control of UAV anti-skid braking system with input and output constraints[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2017, 43(6): 1132-1140.

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输入输出受限的无人机防滑刹车系统容错控制

Fault-tolerant control of UAV anti-skid braking system with input and output constraints

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