摘要
攻击型无人机单侧发射或投放重型武器时,可将飞行控制系统看作是一个切换控制系统。针对常见的常值型和时变型两种执行器故障,提出了一种自适应观测器设计方法,同时结合状态反馈控制设计了容错控制器。通过Lyapunov函数推出了观测器的误差是关于故障界输入状态实际稳定的充分条件,通过平均驻留时间方法证明了切换控制系统是全局输入状态实际稳定的。某型攻击型无人机仿真实例表明,此方法能在准确估计故障大小的基础上,有效保持切换飞行控制系统的性能,应用前景十分广阔。
The attack UAV can be defined as a switched system when it strikes from its one side. A new scheme is proposed based on adaptive observer and fault-tolerant controller to solve the problems of constant and time-vary faults which cause degradation of perform- ance. By using Lyapunov function, a sufficient condition is given for input to state practically stability （ISpS） of observer error in terms of the boundary of fault, and then average dwell time is used to prove that the closed-loop switched system is ISpS. Finally, the UAV simulation results show that the proposed scheme can estimate fault exactly and keep the switched system ISpS effectively, and the ap- plying prospect will be positive.
出处
《控制工程》
CSCD
北大核心
2012年第2期346-350,共5页
Control Engineering of China
基金
国家自然科学基金(91116018
61010121)
南京航空航天大学基本科研业务费专项科研项目(NZ2012020)
江苏省研究生创新基金(CXLX11-0199
CXZZ11-0214)
关键词
无人机
切换系统
故障估计
容错控制
UAV
switched system
fault estimation
fault-tolerant control
