四旋翼悬挂负载系统预设有限时间H∞容错控制
Preset finite-time H∞fault-tolerant control for a quadrotor with slung load
李芷樊 1李小华 1刘辉1
作者信息
- 1. 辽宁科技大学 电子与信息工程学院,辽宁 鞍山 114051
- 折叠
摘要
在实际飞行中,四旋翼飞行器悬挂负载系统容易受到负载摆动以及外部扰动的影响,且可能出现执行器故障.针对此问题,本文基于反步法设计有界H∞容错控制器来抑制外部扰动并消除执行器故障的影响,利用神经网络逼近系统中负载的不确定性,同时引入预设有限时间性能函数,使得四旋翼飞行器即使在负载和外部扰动的影响下,其跟踪误差仍能被约束在预先给定的范围内.所设计的控制器能够保证系统在较精确地跟踪参考轨迹的同时具有较高的抗干扰性能.仿真验证了所设计的控制器的有效性.
Abstract
In actual flight,a quadrotor with slung load system is easily affected by load swing and external in-terference,which may lead to actuator failure.To solve this problem,a bounded H∞fault-tolerant controller is designed based on the backstepping method to suppress external interference and eliminate the influence of ac-tuator faults.Neural networks are used to approach the uncertainty of the load in the system,and a preset fi-nite-time performance function is introduced at the same time,so that the tracking error can still be con-strained within a predetermined range even under the influence of loads and external disturbances.The de-signed controller can ensure that the system tracks accurately the reference trajectory and have high anti-inter-ference performance.Finally,the effectiveness of the designed controller is verified by simulation.
关键词
悬挂负载四旋翼飞行器/反步法/神经网络/有界H∞控制/预设性能控制Key words
quadrotor with slung load/backstepping/neural network/bounded-H∞ control/preset perfor-mance control引用本文复制引用
基金项目
吉林大学汽车仿真与控制国家重点实验室开放基金(20210219)
出版年
2024
NETL
NSTL
万方数据