CN104102132A - Robust self-adaptive fault-tolerant control method based on non-affine and nonlinear unmanned aerial vehicle - Google Patents
Robust self-adaptive fault-tolerant control method based on non-affine and nonlinear unmanned aerial vehicle Download PDFInfo
- Publication number
- CN104102132A CN104102132A CN201410293083.8A CN201410293083A CN104102132A CN 104102132 A CN104102132 A CN 104102132A CN 201410293083 A CN201410293083 A CN 201410293083A CN 104102132 A CN104102132 A CN 104102132A
- Authority
- CN
- China
- Prior art keywords
- controller
- affine
- parameter
- observer
- signal source
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Feedback Control In General (AREA)
Abstract
The invention provides a non-affine and nonlinear fault-tolerant controller design method for a non-affine and nonlinear system with disturbance and parameter uncertainty. The designed observer can be applied to the nonlinear system with non-affine parameters, and the observer has ideal robustness in the presence of the parameters of large-range variation. Fault information and disturbance information are hidden in the observer. A fault-tolerant controller is dynamically designed based on the observer. Due to the fact that the system is the non-affine and nonlinear system, the design of the controller is not easy. The invention provides the dynamic non-affine and nonlinear approximation method. The non-affine and nonlinear system is approximated into an affine nonlinear system with time-varying parameters. Parameters which need to be known are estimated online through a filter. A non-affine flight control system is used to verify the effectiveness of the provided method. The robust fault-tolerant control of the non-affine and nonlinear system can be realized.
Description
Technical field
The present invention relates to the fault-tolerant control field of attitude of flight vehicle, particularly relate to based on the non-linear unmanned vehicle robust adaptive of nonaffine fault tolerant control method.
Background technology
At present, the nonlinear Control based on model has obtained significant progress in theoretical and application, and as feedback linearization, sliding formwork is controlled, inverting control etc.Adaptive technique, due to energy On-line Estimation unknown parameter, is therefore used for designing fault-tolerant control with many nonlinear control method combinations widely.And adaptive control to need estimative parameter and control inputs be affine form, uncertain parameter and control inputs must be dominant form, or and the pass of state variable be linearization relation.In flight control system, conventional method is near linearization trim point, when if the quantity of state that aircraft is current and control inputs present nonaffine form, linearizing model become while being exactly, so the controller based near inearized model design trim point may cause closed-loop system unstable, even system is dispersed.
The fault-tolerant controller that designs a non-affine nonlinear systems is not a simple thing, has two difficult points to solve fully, the one, how to design an adaptive parameter estimation algorithm, and the 2nd, how to design a Reconfigurable Control algorithm.A more common adaptive parameter estimation algorithm is exactly by near system model Taylor series expansion parameter and standard value, utilizes the low order item design parameter observer of Taylor series.The system perturbing among a small circle for parameter like this can obtain good estimation, and for the system of this class parameter wide variation of fault, such method is difficult to obtain desirable estimates of parameters, if there is external disturbance in system simultaneously, can there is error again in the parameter of estimating, even do not realize the estimation of parameter.So how must inquire into for the parameter estimator design load of the nonaffine Nonlinear Uncertain Systems design ideal under fault.All there is certain deficiency in the capable of reconstructing controller of more existing non-affine nonlinear systems, conventional method of inverse needs the contrary of searching system model, although there is document to prove that a controllable system certainly exists the contrary of it, but looking for an inverse system is not that suggestion is easy to thing, as control inputs lies in sine and cosine functions.Therefore have document to propose a kind of nonaffine controller design method, but the shortcoming of the method maximum is exactly the exponent number of meeting increase system.And the method for document based on markers separation designed a kind of nonaffine controller, but being exactly the method, the method weak point is difficult to and existing adaptive technique the effectively combination such as sliding mode technology.
Summary of the invention
For above problem, the application is on the basis of carried nonaffine controller design, a kind of by parameter information and the implicit design in auxiliary system controller wherein of interfere information based on observer technical design, realize the fault-tolerant control of robust adaptive of non-affine nonlinear systems.And the method is applied in flight control system, simulation result shows the validity of institute's extracting method, for reaching this object, the system that the invention provides described aircraft adopts non-affine nonlinear systems:
(5.1)
Wherein:
for state vector,
for input vector,
for the external disturbance vector of unknown bounded,
for nonlinear function:
Concrete control step is as follows,
1) parameter x of controller to the input of received signal source
m(m=1,2 ... ..), wherein m represents the signal source u by m signal source input and wave filter gained
m(m=1,2 ... ..), wherein m represents by the input of m signal source and by the parameter of the resulting unstable signal source of backup system
and the output signal x of aircraft processes and obtains signal variable u
cand by signal variable u
cbe transferred to wave filter and aircraft and backup system;
2) described wave filter is to gained signal variable u
cprocess and obtain signal source u
mand by gained signal source u
mbe transferred to controller;
3) described aircraft obtains signal variable u
cby non-affine nonlinear systems, process and obtain output signal x afterwards, and by output signal x output, and output signal x is transferred to controller and backup system;
4) described backup system is processed gained signal variable u to the output signal x of resulting aircraft and controller
cprocess the parameter of the unstable signal source obtaining
and by the parameter of the unstable signal source of gained
be transferred to controller.
As a kind of improvement of the present invention, described step 1 middle controller model is as follows:
(5.18)
Choose
near, and will
place carries out Taylor series expansion and obtains:
(5.19)
Wherein:
，
(5.20)
Definition
, (5.18) can be expressed as again:
(5.21)
By (5.19), can be found out, if
more approaching
, the higher order indefinite small of Taylor series
more trend towards 0,
(5.22)
In reality
be that the controller being designed calculates, current time is unknown, so cannot directly obtain near it
so, introduce wave filter here for estimating and determining
, the wave filter of introducing is as follows:
(5.23)
Therefore by wave filter (5.23), can obtain
,
.So by above analysis, observer dynamic equation (5.18) can be expressed as:
(5.24)
Definition observer state variable
tracking error be
, utilize dynamic inverse, as follows based on equation (5.24) design control law:
(5.25)
Ride gain
can be obtained by following Riccati Solving Equations:
(5.26)
Wherein
,
.
As a kind of improvement of the present invention, in described step 4, backup system model is as follows:
Definition
for
estimated value, by function
near carry out single order Taylor series expansion, can obtain:
(5.7)
Wherein:
，
(5.8)
Based on (5.7) and (5.8), (5.5) can be write as following equation again:
(5.9)
Wherein:
(5.10)
(5.11)
Can find out
be unknown and bounded, be defined as
:
Definition
, wherein
for state
observed reading.For (5.9), design following observer:
(5.12)
And drawn by following adaptive law
;
(5.13)
Wherein
,
and
be
solution, wherein
,
it is a Hurwitz matrix.It can guarantee the minimum value of estimated value in setting
and maximal value
between.The design of sliding formwork item is as follows,
(5.14)
Time-varying parameter
by following adaptive law, upgrade and obtain:
(5.15)
Definition inefficacy factor evaluated error is
, by observer equation (5.12) and equation (5.9), can obtain observational error dynamic equation and be:
(5.16)。
The present invention is directed to exist and disturb and the uncertain non-affine nonlinear systems of parameter, provide a kind of nonaffine Nonlinear Fault Tolerant controller design method.Designed observer can be applicable to the nonlinear system that parameter has nonaffine form, and exists observer in wide variation situation still can have quite desirable robustness in parameter.Observer all implies failure message and disturbance information wherein, then based on observer dynamic design fault-tolerant controller, because system is non-affine nonlinear systems, the design of controller is also not easy, the application provides a kind of dynamic non-affine nonlinear systems approximation method, non-affine nonlinear systems is approximately to one with the Affine Incentive nonlinear system of time-varying parameter, and the required parameter of knowing is carried out On-line Estimation by a wave filter.Utilize a nonaffine flight control system to verify the validity of institute's extracting method, can realize the robust Fault-Tolerant Control of non-affine nonlinear systems.
Accompanying drawing explanation
Fig. 1 is Fault-tolerant Control System Design block diagram of the present invention;
Fig. 2 is simulating, verifying model parameter figure of the present invention;
Fig. 3 is the system responses curve map in situation 1 of the present invention:
Fig. 4 is the system responses curve map in situation 2 of the present invention;
Fig. 5 is the system responses curve map in situation 3 of the present invention;
Fig. 6 is that the present invention makes estimates of parameters and the sliding formwork item response diagram in situation 3.
Embodiment
Below in conjunction with drawings and Examples, invention is described in detail:
The application is on the basis of carried nonaffine controller design, a kind of by parameter information and the implicit design in auxiliary system controller wherein of interfere information based on observer technical design, realizes the fault-tolerant control of robust adaptive of non-affine nonlinear systems.And the method is applied in flight control system, simulation result shows the validity of institute's extracting method.
The system that the invention provides described aircraft adopts non-affine nonlinear systems:
(5.1)
Wherein:
for state vector,
for input vector,
for the external disturbance vector of unknown bounded,
for nonlinear function:
It is concrete that to control step as follows, principle as shown in Figure 1:
1) parameter x of controller to the input of received signal source
m(m=1,2 ... ..), wherein m represents the signal source u by m signal source input and wave filter gained
m(m=1,2 ... ..), wherein m represents by the input of m signal source and by the parameter of the resulting unstable signal source of backup system
and the output signal x of aircraft processes and obtains signal variable u
cand by signal variable u
cbe transferred to wave filter and aircraft and backup system;
2) described wave filter is to gained signal variable u
cprocess and obtain signal source u
mand by gained signal source u
mbe transferred to controller;
3) described aircraft obtains signal variable u
cby non-affine nonlinear systems, process and obtain output signal x afterwards, and by output signal x output, and output signal x is transferred to controller and backup system;
4) described backup system is processed gained signal variable u to the output signal x of resulting aircraft and controller
cprocess the parameter of the unstable signal source obtaining
and by the parameter of the unstable signal source of gained
be transferred to controller.
Non-affine nonlinear systems under the present invention:
(5.1)
Wherein:
for state vector,
for input vector,
for the external disturbance vector of unknown bounded,
for nonlinear function.Fault model after each input channel Actuators Failures of the present invention can represent:
(5.2)
Wherein
for the unknown inefficacy factor.
the known inefficacy factor for definition
maximin.When
represent that non-fault occurs.So control inputs exists Actuators Failures fault to be expressed as
(5.3)
Wherein
.So the non-affine nonlinear systems under fault (5.1) can be expressed as
(5.4)
Equation (5.4) can be write as general type
(5.5)
Wherein
.Be convenient to carrying out of work, provide a hypothesis below.
Suppose 1:
for
,
,
smooth continuous derivatived functions.And control inputs
bounded.
The output reference model of system (5.1) is
(5.6)
Wherein:
for the state vector of reference model,
it is a stable model reference system matrix.
input for reference model.
The object of robust Fault-Tolerant Control designs fault-tolerant control inputs exactly
, in the situation that there is external disturbance and Actuators Failures fault, guarantee
.
By (5.5), can be found out, the fault parameter of the non-affine nonlinear systems under actuator failures and control inputs variable do not show and are contained in function, this brings very large difficulty to the estimation of fault parameter and the design of controller, this chapter provides the adaptive sliding mode Design of Observer parameter estimation algorithm of carrying based on chapter 3, and provides a kind of new nonaffine Design of non-linear controllers method.Under the fault-tolerant control framework providing at chapter 1, designed a kind of fault-tolerant controller of non-affine nonlinear systems.
Design in auxiliary system of the present invention is as follows:
Definition
for
estimated value, by hypothesis 1, by function
near carry out single order Taylor series expansion, can obtain:
(5.7)
Wherein:
，
(5.8)
Based on (5.7) and (5.8), (5.5) can be write as following equation again:
(5.9)
Wherein:
(5.10)
(5.11)
Can find out
be unknown and bounded, be defined as
.
Definition
, wherein
for state
observed reading.For (5.9), design following observer
(5.12)
And drawn by following adaptive law
:
(5.13)
Wherein
,
and
be
solution, wherein
,
it is a Hurwitz matrix.It can guarantee the minimum value of estimated value in setting
and maximal value
between.The design of sliding formwork item is as follows,
(5.14)
Time-varying parameter
by following adaptive law, upgrade and obtain:
(5.15)
Definition inefficacy factor evaluated error is
, by observer equation (5.12) and equation (5.9), can obtain observational error dynamic equation and be:
(5.16)
Theorem 5.1: by observer (5.12), adaptive updates rule (5.13) and sliding formwork item (5.14), can observational error dynamic equation (5.16) asymptotically stable in the large, to arbitrary initial value
, guarantee
, damage Fault Estimation error
bounded.
Proof: the similar theorem 3.1 of proof procedure.
Serialization sliding formwork item is as follows
(5.17)
Wherein:
, and
with
for being greater than 0 constant.
Remarks 5.1: this chapter exists
near dynamic equation (5.5) is carried out to single order Taylor series expansion, here (parameter changes greatly the approximate inaccurate problem of model of avoiding parameter variation to cause greatly, the higher order term that Taylor series approximation is ignored will be larger, at this moment higher order term just can not be left in the basket), and the method that this chapter carries, because approximate model is a parameter time varying affine nonlinear system.And as long as parameter estimation algorithm can have convergence faster than observer in the observer of design, just can guarantee the accuracy of approximate model.
Controller design of the present invention is as follows:
Based on observer (5.12), utilize the non-affine nonlinear systems controller design method of carrying early stage, first definition
, observer (5.12) can be write as following obtaining:
(5.18)
Choose
near, and will
place carries out Taylor series expansion and obtains:
(5.19)
Wherein:
，
(5.20)
Definition
, (5.18) can be expressed as again:
(5.21)
By (5.19), can be found out, if
more approaching
, the higher order indefinite small of Taylor series
more trend towards 0,
(5.22)
In reality
be that the controller being designed calculates, current time is unknown, so cannot directly obtain near it
so, introduce wave filter here for estimating and determining
, the wave filter of introducing is as follows:
(5.23)
Therefore by wave filter (5.23), can obtain
,
.So by above analysis, observer dynamic equation (5.18) can be expressed as:
(5.24)
Definition observer state variable
tracking error be
, utilize dynamic inverse, as follows based on equation (5.24) design control law:
(5.25)
Ride gain
can be obtained by following Riccati Solving Equations:
(5.26)
Wherein
,
.
Theorem 5.2: define system tracking error
, failure system (5.5) is in controller (5.25), and under the closed-loop system that forms of observer (5.12)-(5.14), can guarantee system asymptotic tracking reference locus,
.
Proof: will can obtain observer error dynamics equation in control law (5.25) substitution (5.24):
(5.27)
Select following Lyapunov equation:
(5.28)
Right
differentiate, and utilize Young inequality
obtain:
(5.29)
Wherein:
，
(5.30)
,
for minimax eigenvalue matrix.Therefore with the consistent final bounded lemma of the overall situation
[138], can obtain
exponential convergence, and
finally can converge to following territory:
(5.31)
Because
, can obtain
, again by the result of theorem 5.1
so, be easy to obtain
.
Remarks 5.2:
contrary may existence, for avoiding this kind of situation to occur, often adopt in practice following formula to replace
, that is:
(5.32)
Wherein
for positive definite matrix.
Simulating, verifying of the present invention
Next, utilize unmanned aerial vehicle flight path angle and speed control system to carry out the validity of emulation proof institute extracting method,
Dynamic model is:
(5.33)
Definition flying speed
, path angle
, position angle, path
for state variable.Thrust
, load factor
, and pitch angle
for control inputs.Resistance
computing formula is as follows:
(5.34)
Model parameter is as shown in Figure 2:
Definition status variable
, control inputs is
, the Actuators Failures factor is
, external disturbance is
.Equation (5.33) can be expressed as:
(5.35)
Wherein:
,
,
,
,
,
,
.Setting speed
reference locus be 300 m/s.Path angle
, position angle, path
reference locus by two following reference models, exported:
(5.35)
(5.36)
Wherein
,
(5.37)
Suppose that Actuators Failures fault occurs as follows:
(5.38)
State initial value is
,
,
,
,
, design aiding system parameter is
,
,
,
.Designing filter parameter is
.Controller gain
.
。
Situation 1: consider under normal circumstances the control of designed controller to non-affine nonlinear systems.Controller is designed to:
(5.39)
The response curve of system tracking error as shown in Figure 3.The nonaffine control method carried is as seen from Figure 3 effectively, can realize preferably and estimate to follow the tracks of.,
Situation 2: after fault (5.38) occurs, what controller still used is (5.39).System tracking error response curve is shown in Fig. 4, can find out in the situation of not carrying out fault-tolerant control, can not realize the input track reference track of system.
Situation 3: after fault (5.38) occurs, adopt the fault-tolerant controller of this chapter design.System tracking error response curve is shown in Fig. 5, parameter
estimation
with sliding formwork item
response curve as shown in Figure 6.Can find out that institute's fault-tolerant control of carrying herein can be so that system still can guarantee that under failure condition system has good tracking performance.
The above, be only preferred embodiment of the present invention, is not the present invention to be done to the restriction of any other form, and according to any modification or equivalent variations that technical spirit of the present invention is done, still belongs to the present invention's scope required for protection.
Claims (3)
1. based on the non-linear unmanned vehicle robust adaptive of nonaffine fault tolerant control method, it is characterized in that: the system of described aircraft adopts non-affine nonlinear systems:
(5.1)
Wherein:
for state vector,
for input vector,
for the external disturbance vector of unknown bounded,
for nonlinear function:
Concrete control step is as follows,
1) parameter x of controller to the input of received signal source
m(m=1,2 ... ..), wherein m represents the signal source u by m signal source input and wave filter gained
m(m=1,2 ... ..), wherein m represents by the input of m signal source and by the parameter of the resulting unstable signal source of backup system
and the output signal x of aircraft processes and obtains signal variable u
cand by signal variable u
cbe transferred to wave filter and aircraft and backup system;
2) described wave filter is to gained signal variable u
cprocess and obtain signal source u
mand by gained signal source u
mbe transferred to controller;
3) described aircraft obtains signal variable u
cby non-affine nonlinear systems, process and obtain output signal x afterwards, and by output signal x output, and output signal x is transferred to controller and backup system;
4) described backup system is processed gained signal variable u to the output signal x of resulting aircraft and controller
cprocess the parameter of the unstable signal source obtaining
and by the parameter of the unstable signal source of gained
be transferred to controller.
2. according to claim 1 based on the non-linear unmanned vehicle robust adaptive of nonaffine fault tolerant control method, it is characterized in that: described step 1 middle controller model is as follows:
(5.18)
Choose
near, and will
place carries out Taylor series expansion and obtains:
(5.19)
Wherein:
，
(5.20)
Definition
, (5.18) can be expressed as again:
(5.21)
By (5.19), can be found out, if
more approaching
, the higher order indefinite small of Taylor series
more trend towards 0,
(5.22)
In reality
be that the controller being designed calculates, current time is unknown, so cannot directly obtain near it
so, introduce wave filter here for estimating and determining
, the wave filter of introducing is as follows:
(5.23)
Therefore by wave filter (5.23), can obtain
,
.So by above analysis, observer dynamic equation (5.18) can be expressed as:
(5.24)
Definition observer state variable
tracking error be
, utilize dynamic inverse, as follows based on equation (5.24) design control law:
(5.25)
Ride gain
can be obtained by following Riccati Solving Equations:
(5.26)
Wherein
,
.
3. according to claim 1 based on the non-linear unmanned vehicle robust adaptive of nonaffine fault tolerant control method, it is characterized in that: in described step 4, backup system model is as follows:
Definition
for
estimated value, by function
near carry out single order Taylor series expansion, can obtain:
(5.7)
Wherein:
，
(5.8)
Based on (5.7) and (5.8), (5.5) can be write as following equation again:
(5.9)
Wherein:
(5.10)
(5.11)
Can find out
be unknown and bounded, be defined as
:
Definition
, wherein
for state
observed reading.For (5.9), design following observer:
(5.12)
And drawn by following adaptive law
;
(5.13)
Wherein
,
and
be
solution, wherein
,
it is a Hurwitz matrix.It can guarantee the minimum value of estimated value in setting
and maximal value
between.The design of sliding formwork item is as follows,
(5.14)
Time-varying parameter
by following adaptive law, upgrade and obtain:
(5.15)
Definition inefficacy factor evaluated error is
, by observer equation (5.12) and equation (5.9), can obtain observational error dynamic equation and be:
(5.16)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410293083.8A CN104102132A (en) | 2014-06-27 | 2014-06-27 | Robust self-adaptive fault-tolerant control method based on non-affine and nonlinear unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410293083.8A CN104102132A (en) | 2014-06-27 | 2014-06-27 | Robust self-adaptive fault-tolerant control method based on non-affine and nonlinear unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104102132A true CN104102132A (en) | 2014-10-15 |
Family
ID=51670362
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410293083.8A Pending CN104102132A (en) | 2014-06-27 | 2014-06-27 | Robust self-adaptive fault-tolerant control method based on non-affine and nonlinear unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104102132A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104571120A (en) * | 2014-12-31 | 2015-04-29 | 天津大学 | Posture nonlinear self-adaptive control method of quad-rotor unmanned helicopter |
| CN104965515A (en) * | 2015-06-12 | 2015-10-07 | 南京航空航天大学 | Attitude control method for propeller unmanned drone aircraft based on adaptive control |
| CN105159309A (en) * | 2015-09-01 | 2015-12-16 | 西北工业大学 | Spacecraft attitude stability control method by using biasing tether |
| CN106527137A (en) * | 2016-11-25 | 2017-03-22 | 天津大学 | Observer-based quadrotor unmanned aerial vehicle fault-tolerant control method |
| CN110580035A (en) * | 2019-09-02 | 2019-12-17 | 浙江工业大学 | motion control system fault identification method under sensor saturation constraint |
| CN112925204A (en) * | 2021-01-21 | 2021-06-08 | 深圳翱诺科技有限公司 | Optimal fault-tolerant control method of non-affine system based on reinforcement learning |
| CN113960923A (en) * | 2021-09-22 | 2022-01-21 | 季华实验室 | Model-free self-adaptive sliding mode control method based on discrete extended state observer |
| CN114995163A (en) * | 2022-08-03 | 2022-09-02 | 西北工业大学 | Unmanned aerial vehicle immune control method |
-
2014
- 2014-06-27 CN CN201410293083.8A patent/CN104102132A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104571120A (en) * | 2014-12-31 | 2015-04-29 | 天津大学 | Posture nonlinear self-adaptive control method of quad-rotor unmanned helicopter |
| CN104965515A (en) * | 2015-06-12 | 2015-10-07 | 南京航空航天大学 | Attitude control method for propeller unmanned drone aircraft based on adaptive control |
| CN105159309A (en) * | 2015-09-01 | 2015-12-16 | 西北工业大学 | Spacecraft attitude stability control method by using biasing tether |
| CN105159309B (en) * | 2015-09-01 | 2018-01-23 | 西北工业大学 | It is a kind of to utilize the spacecraft Attitude stable control method for biasing tether |
| CN106527137A (en) * | 2016-11-25 | 2017-03-22 | 天津大学 | Observer-based quadrotor unmanned aerial vehicle fault-tolerant control method |
| CN106527137B (en) * | 2016-11-25 | 2019-08-16 | 天津大学 | Quadrotor drone fault tolerant control method based on observer |
| CN110580035A (en) * | 2019-09-02 | 2019-12-17 | 浙江工业大学 | motion control system fault identification method under sensor saturation constraint |
| CN112925204A (en) * | 2021-01-21 | 2021-06-08 | 深圳翱诺科技有限公司 | Optimal fault-tolerant control method of non-affine system based on reinforcement learning |
| CN113960923A (en) * | 2021-09-22 | 2022-01-21 | 季华实验室 | Model-free self-adaptive sliding mode control method based on discrete extended state observer |
| CN113960923B (en) * | 2021-09-22 | 2022-03-08 | 季华实验室 | Model-free self-adaptive sliding mode control method based on discrete extended state observer |
| CN114995163A (en) * | 2022-08-03 | 2022-09-02 | 西北工业大学 | Unmanned aerial vehicle immune control method |
| CN114995163B (en) * | 2022-08-03 | 2022-12-16 | 西北工业大学 | Unmanned aerial vehicle immune control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104102132A (en) | Robust self-adaptive fault-tolerant control method based on non-affine and nonlinear unmanned aerial vehicle | |
| CN104049537A (en) | Non-affine non-linear flight control system robust adaptive fault-tolerant control system | |
| Jiang et al. | Neural-networked adaptive tracking control for switched nonlinear pure-feedback systems under arbitrary switching | |
| Zhang et al. | Adaptive sliding mode control for re-entry attitude of near space hypersonic vehicle based on backstepping design | |
| Asl et al. | Adaptive backstepping fast terminal sliding mode controller design for ducted fan engine of thrust-vectored aircraft | |
| Wang et al. | Sliding mode fault tolerant control dealing with modeling uncertainties and actuator faults | |
| CN106444701B (en) | Leader-follower type multi-agent system finite time Robust Fault Diagnosis design method | |
| CN104102225A (en) | Unmanned aircraft posture decentralized fault-tolerant control method based on actuator dynamic state | |
| Edwards et al. | Sliding mode methods for fault detection and fault tolerant control with application to aerospace systems | |
| Lu et al. | Finite‐time attitude control for rigid spacecraft‐based on adaptive super‐twisting algorithm | |
| CN104035447A (en) | Dynamic control reallocation based unmanned aerial vehicle attitude fault-tolerance control method | |
| Zhang et al. | Fuzzy unknown input observer-based robust fault estimation design for discrete-time fuzzy systems | |
| CN104020774A (en) | Aircraft attitude fault-tolerant control method based on dynamic control redistribution | |
| CN104950898A (en) | Reentry vehicle full-order non-singular terminal sliding mode posture control method | |
| Wu et al. | Quantized fixed-time fault-tolerant attitude control for hypersonic reentry vehicles | |
| Chen et al. | An intelligent self-repairing control for nonlinear MIMO systems via adaptive sliding mode control technology | |
| CN110687915B (en) | Spacecraft formation attitude cooperative control method based on undirected communication topology | |
| Ma et al. | Detection and adaptive accommodation for actuator faults of a class of non-linear systems | |
| Ding et al. | An improved continuous sliding mode controller for flexible air‐breathing hypersonic vehicle | |
| Miao et al. | Adaptive control for simultaneous stabilization and tracking of unicycle mobile robots | |
| Cui et al. | Adaptive neural dynamic surface control for a class of uncertain nonlinear systems with disturbances | |
| Karimi et al. | Fault detection, isolation, and tolerant control of vehicles using soft computing methods | |
| Mattei et al. | Nonlinear observers with H∞ performance for sensor fault detection and isolation: a linear matrix inequality design procedure | |
| Zong et al. | Input-to-state stability-modular command filtered back-stepping control of strict-feedback systems | |
| Xing et al. | Active Wind Rejection Control for a Quadrotor UAV Against Unknown Winds |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141015 |
|
| RJ01 | Rejection of invention patent application after publication |