无人机固定时间路径跟踪容错制导控制

崔正阳; 王勇

doi:10.13700/j.bh.1001-5965.2020.0250

无人机固定时间路径跟踪容错制导控制

doi: 10.13700/j.bh.1001-5965.2020.0250

崔正阳¹,
王勇^2, ,

1.
北京航空航天大学自动化科学与电气工程学院, 北京 100083
2.
北京航空航天大学无人系统研究院, 北京 100083

详细信息

通讯作者:
王勇. E-mail: 07109@buaa.edu.cn

中图分类号: V249.122⁺.3
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- 被引次数: 0
出版历程
- 收稿日期: 2020-06-10
- 录用日期: 2020-06-29
- 网络出版日期: 2021-08-20

Fault-tolerant fixed-time path following guidance control of UAV

CUI Zhengyang¹,
WANG Yong^{2
, ,}

1.
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China
2.
Institute of Unmanned System, Beihang University, Beijing 100083, China

More Information

Corresponding author: WANG Yong. E-mail: 07109@buaa.edu.cn

摘要

摘要:
针对无人机存在外部环境干扰及执行机构故障情况下的固定时间路径跟踪容错制导控制进行研究，提出了固定时间收敛的视线制导控制算法，利用反步法及固定时间收敛的视线制导控制算法确保无人机路径跟踪误差在固定时间内收敛。通过在视线制导控制算法中引入指令滤波器及误差补偿器，避免反步法中虚拟控制量微分项的复杂计算。为了抑制制导控制过程中系统状态剧烈变化，引入障碍李雅普诺夫函数对偏航角速度误差进行限制。通过非线性固定时间观测器对不确定性进行估计补偿，消除执行机构故障及外部环境干扰等因素对跟踪性能的影响。仿真结果表明：所提算法具备有效性和鲁棒性，具有良好的路径跟踪容错制导控制性能。
- 视线制导算法 /
- 路径跟踪 /
- 固定时间收敛 /
- 容错控制 /
- 扰动观测器
Abstract:
A fault-tolerant fixed-timepath following guidance control method for the UAVs subject to thedisturbancesand actuator faults is studied. Both backstepping and fixed-time convergence techniques are employed for developing the line-of-sight path following control strategies to guarantee the convergence of the UAV to its reference trajectory in fixed time with elegant transient performance. Command filters and auxiliary systems are introduced in the guidance control algorithms design to avoid the arduous calculation of derivatives of virtual control terms in backstepping. To address turning rates constraints of the UAV, the barrier Lyapunov functions are incorporated with the control scheme to prevent the drastic change of the guidance control system states. A nonlinear fixed-time observer is designed for estimating complex unknown external disturbances and eliminating the actuator faults and the influence of external environment disturbance on following performance. Simulation results show the effectiveness and robustness of the proposed line-of-sight path following guidance control algorithm, and it has good path following fault-tolerant control performance.
- line-of-sight guidance algorithm /
- path following /
- fixed-time convergence /
- fault-tolerant control /
- disturbance observer

HTML全文

图 1 无人机路径跟踪控制几何示意图

Figure 1. Path following control geometry of an UAV

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图 2 视线制导控制算法框架

Figure 2. Framework of path following guidance control algorithm

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图 3 视线制导控制算法模块

Figure 3. Block diagram of light-of-sight guidance control algorithm

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图 4 路径跟踪效果

Figure 4. Path following performance

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图 5 侧偏距离误差

Figure 5. Cross-track errors

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图 6 偏航角误差

Figure 6. Yaw angle errors

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图 7 偏航角速度误差

Figure 7. Yaw angular velocity errors

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图 8 力矩控制量

Figure 8. moment control variable

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图 9 干扰估计值

Figure 9. Estimates of disturbance

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图 10 不确定性估计值

Figure 10. Estimates of uncertainties

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图 11 不同初值的路径跟踪效果

Figure 11. Path following performance with different initial states

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图 12 不同初值的侧向距离误差

Figure 12. Cross-track errors with different initial states

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图 13 收敛时间统计结果

Figure 13. Statistic results of convergence time

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表 1 100次仿真统计结果

Table 1. Statistic results of 100 simulations

控制算法收敛时间均值/s 收敛时间方差

固定时间控制算法 7.72 0.003

有限时间控制算法 12.32 1.394

下载: 导出CSV

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