摘要
为了提升四旋翼无人机在多传感器耦合故障状态下的轨迹跟踪控制精度,基于无人机动力学模型,充分考虑传感器偏差、漂移和失效故障对角速度传感器在运行过程中的影响,构建了角速度传感器故障模型。在此基础上,提出一种基于自适应模糊控制方法的容错控制律,包括姿态角回路控制律和角速度回路控制律,实现了传感器故障条件下的四旋翼无人机稳定控制。在MATLAB/SIMULINK环境下进行了仿真试验,结果表明,相比传统的卡尔曼滤波算法,应用提出的容错控制算法得到的无人机轨迹跟踪控制精度明显更高。
In order to enhance the trajectory tracking control accuracy of quadrotor unmanned aerial vehicles(UAVs)under multi-sensor coupling failure conditions,this study develops a fault-tolerant control method based on the UAV dynamic model.The influence of sensor bias,drift,and failure on angular velocity sensors during flight operations is fully considered,and a fault model for angular velocity sensors is constructed.On this basis,a faulttolerant control law is proposed using an adaptive fuzzy control approach,which includes control laws for both attitude angle and angular velocity loops,enabling stable quadrotor control under sensor failure conditions.The simulation tests conducted in MATLAB/SIMULINK environment show that compared with the traditional Kalman filter algorithm,the proposed fault-tolerant control strategy significantly improves trajectory tracking accuracy.
作者
周来宏
谭恩泽
谢富珍
习志军
金虹
孙鸿
ZHOU Laihong;TAN Enze;XIE Fuzhen;XI Zhijun;JIN Hong;SUN Hong(School of Mechanical and Electrical Engineering,Xinyu University,338004,Xinyu,Jiangxi,PRC;Guangzhou Huali Science and Tochnology Vocational Colloge,511325,Guangzhou,PRC)
出处
《江西科学》
2025年第4期668-673,共6页
Jiangxi Science
基金
江西省教育厅科技计划项目(GJJ212320)
新余市科技计划项目(21KJZD02)
新余学院技术服务项目(HX24091)。
