To realize the accurate attitude tracking control of flying-wing UAVs in complex circumstances,a robust adaptive fault-tolerant control method based on Nussbaum gain is proposed considering the effects of parameter uncertainties,external disturbances,actuator failures and flight envelope constraints.Based on the disturbed kinematic and dynamic models of a flying wing UAV,a control-oriented attitude control model is developed considering the effects of actuator faults and system uncertainties.The flight envelope constraints and the transient and steady-state performances of attitude tracking errors are ensured by introducing a time-varying barrier Lyapunov function.Then,the effect of lumped uncertainty term and the actuator faults are compensated by adaptive bounded estimation and Nussbaum gain.Finally,the feasibility of the proposed control method is critically demonstrated though stability analysis.The simulated results show that the proposed control method is able to achieve the high-precision attitude tracking control of the flying-wing UAV.
关键词
飞翼无人机/飞行包线限制/Nussbaum增益/自适应控制/容错控制
Key words
flying-wing UAV/flight envelope constraint/Nussbaum gain/adaptive control/fault-tolerant control
维普
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