具有飞行包线限制的飞翼无人机鲁棒自适应容错姿态控制

doi:10.12382/bgxb.2023.0351

摘要/Abstract

摘要：

为实现复杂环境下飞翼无人机姿态的精确跟踪控制,考虑参数不确定性、外部扰动、执行器故障及飞行包线限制的影响,提出一种基于Nussbaum增益的鲁棒自适应容错控制方法。在受扰动的飞翼无人机姿态运动学与动力学模型基础上考虑执行器故障与系统不确定的影响,建立面向控制的姿态控制模型。通过引入时变障碍Lyapunov函数,在保证飞行包线限制的同时确保姿态跟踪误差的瞬态与稳态性能。通过自适应的有界估计与Nussbaum增益,补偿总的不确定项与执行器故障的影响。通过稳定性分析严格证明新提出的控制方法的可行性。仿真结果表明,新的控制方法能够确保飞行包线限制,同时保证预设的瞬态与稳态性能,实现飞翼无人机高精度的姿态跟踪控制。

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

Abstract:

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.

Key words: flying-wing UAV, flight envelope constraint, Nussbaum gain, adaptive control, fault-tolerant control

中图分类号:

V249

禹志龙, 李颖晖, 裴彬彬, 徐文丰, 段效聪, 宋可鑫. 具有飞行包线限制的飞翼无人机鲁棒自适应容错姿态控制[J]. 兵工学报, 2024, 45(1): 231-240.

YU Zhilong, LI Yinghui, PEI Binbin, XU Wenfeng, DUAN Xiaocong, SONG Kexin. Robust Adaptive Fault-tolerant Attitude Control of Flying-wing UAVs with Flight Envelope Constraints[J]. Acta Armamentarii, 2024, 45(1): 231-240.

图/表 7

图1 飞翼无人机控制舵面的结构配置

Fig.1 Configuration of control surface of tailless flying-wing UAV

图2 本文提出的鲁棒自适应控制方法的结构图

Fig.2 Control structure of the proposed robust adaptive control scheme

图3 本文方法和文献[20]方法下飞翼无人机的姿态及跟踪误差

Fig.3 Attitude and its tracking errors of the flying-wing UAV with the proposed method and the method in Ref.[20]

图4 本文方法和文献[20]方法下飞翼无人机的角速度及跟踪误差

Fig.4 Angular velocity and its tracking errors of the flying-wing UAV with the proposed method and the method in Ref.[20]

表1 不同控制方法的性能评价

Table 1 Performance evaluation for different control schemes

方法	姿态			角速度			E	AAD
方法	RMSE	IAE	ITAE	RMSE	IAE	ITAE	E	AAD
本文方法	0.150	1.050	14.927	1.180	12.356	193.883	530	210
文献[20]方法	0.230	2.442	39.272	1.677	24.2153	394.294	588	235

图5 飞翼无人机各控制舵面的偏转曲线

Fig.5 Actuator deflection trajectories of flying-wing UAV

图6 Nussbaum增益变化曲线

Fig.6 Curves of Nussbaum gain

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