In this paper, the problem of pre-specified performance fault-tolerant cluster consensus control and fault direction identification is solved for the human-in-the-loop(HIL) swarm unmanned aerial vehicles(UAVs) in the ...In this paper, the problem of pre-specified performance fault-tolerant cluster consensus control and fault direction identification is solved for the human-in-the-loop(HIL) swarm unmanned aerial vehicles(UAVs) in the presence of possible nonidentical and unknown direction faults(NUDFs) in the yaw channel.The control strategy begins with the design of a pre-specified performance event-triggered observer for each individual UAV.These observers estimate the outputs of the human controlled UAVs, and simultaneously achieve the distributed design of actual control signals as well as cluster consensus of the observer output.It is worth mentioning that these observers require neither the high-order derivatives of the human controlled UAVs' output nor a priori knowledge of the initial conditions. The fault-tolerant controller realizes the pre-specified performance output regulation through error transformation and the Nussbaum function. It should be pointed out that there are no chattering caused by the jump of the Nussbaum function when a reverse fault occurs. In addition, to provide a basis for further solving the problem of physical malfunctions, a fault direction identification algorithm is proposed to accurately identify whether a reverse fault has occurred. Simulation results verify the effectiveness of the proposed control and fault direction identification strategies when the reverse faults occur.展开更多
在RT-Flex60C型智能化柴油机WECS(WrtsilElectronic Control System)控制系统和推进控制系统基础上,采用"缸平移法"生成模拟排气阀升程信号,结合自主开发的实时仿真单元和信号采集单元,研制了大型智能化柴油机电控排气阀...在RT-Flex60C型智能化柴油机WECS(WrtsilElectronic Control System)控制系统和推进控制系统基础上,采用"缸平移法"生成模拟排气阀升程信号,结合自主开发的实时仿真单元和信号采集单元,研制了大型智能化柴油机电控排气阀系统的硬件在环(Hardware In the Loop,HIL)仿真试验平台,该平台可采集伺服油轨压、排气阀升程、排气阀开启/关闭控制信号、空气弹簧压力等信号,试验结果表明,试验平台性能稳定可靠,能正确模拟真实柴油机的运行,实现了可变排气阀开启VEO(Variable Exhaust Opening)和可变排气阀关闭VEC(Variable Exhaust Closing),为研究大型智能化低速柴油机电控排气阀的特性、执行机构的性能验证以及控制系统的测试提供了试验平台。展开更多
基金supported in part by the National Natural Science Foundation of China(62173028,62233015,62173024)the Guangdong Basic and Applied Basic Research Foundation(2024A1515011493)+3 种基金the Science,Technology&Innovation Project of Xiongan New Area(2023XAGG0062)Beijing Natural Science Foundation(4232060)the International Scientists Project,Beijing Natural Science Foundation(IS23065)the Brazilian Research Council(303289/2022-8)
文摘In this paper, the problem of pre-specified performance fault-tolerant cluster consensus control and fault direction identification is solved for the human-in-the-loop(HIL) swarm unmanned aerial vehicles(UAVs) in the presence of possible nonidentical and unknown direction faults(NUDFs) in the yaw channel.The control strategy begins with the design of a pre-specified performance event-triggered observer for each individual UAV.These observers estimate the outputs of the human controlled UAVs, and simultaneously achieve the distributed design of actual control signals as well as cluster consensus of the observer output.It is worth mentioning that these observers require neither the high-order derivatives of the human controlled UAVs' output nor a priori knowledge of the initial conditions. The fault-tolerant controller realizes the pre-specified performance output regulation through error transformation and the Nussbaum function. It should be pointed out that there are no chattering caused by the jump of the Nussbaum function when a reverse fault occurs. In addition, to provide a basis for further solving the problem of physical malfunctions, a fault direction identification algorithm is proposed to accurately identify whether a reverse fault has occurred. Simulation results verify the effectiveness of the proposed control and fault direction identification strategies when the reverse faults occur.
文摘在RT-Flex60C型智能化柴油机WECS(WrtsilElectronic Control System)控制系统和推进控制系统基础上,采用"缸平移法"生成模拟排气阀升程信号,结合自主开发的实时仿真单元和信号采集单元,研制了大型智能化柴油机电控排气阀系统的硬件在环(Hardware In the Loop,HIL)仿真试验平台,该平台可采集伺服油轨压、排气阀升程、排气阀开启/关闭控制信号、空气弹簧压力等信号,试验结果表明,试验平台性能稳定可靠,能正确模拟真实柴油机的运行,实现了可变排气阀开启VEO(Variable Exhaust Opening)和可变排气阀关闭VEC(Variable Exhaust Closing),为研究大型智能化低速柴油机电控排气阀的特性、执行机构的性能验证以及控制系统的测试提供了试验平台。
