CN109947134B - Four-rotor unmanned aerial vehicle formation fault-tolerant method based on multi-unmanned aerial vehicle distributed control - Google Patents
Four-rotor unmanned aerial vehicle formation fault-tolerant method based on multi-unmanned aerial vehicle distributed control Download PDFInfo
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Abstract
The invention discloses a four-rotor unmanned aerial vehicle formation fault-tolerant method based on multi-unmanned aerial vehicle distributed control, which comprises the steps of firstly, constructing a fault power model of a plurality of four-rotor unmanned aerial vehicles; then a first sliding mode distributed formation controller and a second sliding mode formation controller are constructed based on the normal formation process of the quad-rotor unmanned aerial vehicle, the position and the posture of the quad-rotor unmanned aerial vehicle under the normal formation condition are respectively controlled, and formation flying of the quad-rotor unmanned aerial vehicle according to a set track is realized; finally, a state observer is constructed, whether a fault occurs or not is judged according to the residual error between the observed result and the actual result in the formation process through the state observer, and if the fault occurs, a self-adaptive distributed sliding mode formation controller is designed to control each quad-rotor unmanned aerial vehicle to form a formation according to a set track; otherwise, continuing to control through the first sliding mode distributed formation controller and the second sliding mode formation controller; the invention can stably control formation of the four-rotor unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to formation fault-tolerant control of multi-quad-rotor unmanned aerial vehicles, in particular to a quad-rotor unmanned aerial vehicle formation fault-tolerant method based on multi-unmanned aerial vehicle distributed control.
Background
The requirement of formation flight of unmanned aerial vehicle to unmanned aerial vehicle's reliability and security is higher, and unmanned aerial vehicle's trouble generally divide into executor trouble and sensor trouble. Fault tolerant control can be used to solve these problems, and the methods of fault tolerant control are classified into active fault tolerance and passive fault tolerance. The passive control fault-tolerant method has robustness and is insensitive to faults, active fault tolerance can actively carry out fault tolerance on the faults, and the aim of fault tolerance is achieved by readjusting parameters or structures of a controller.
The self-adaptive fault-tolerant control method is an active fault-tolerant method, estimates faults by designing a self-adaptive law, can automatically adjust control parameters or system parameters according to the change of transformation parameters of an external environment, and ensures the stability of the system.
The existing unmanned aerial vehicle formation considers each unmanned aerial vehicle as a particle to study, considers each unmanned aerial vehicle as a multi-agent, only considers the formation of a two-dimensional plane, does not break away from the framework of the formation of the multi-agent, does not control the self angle of the unmanned aerial vehicle, and has no practical physical significance.
The existing control to the four-rotor formation unmanned aerial vehicle when the fault occurs only can ensure that the speed is not changed, but the position is changed.
Disclosure of Invention
Aiming at the problem that the position and the speed of a quad-rotor unmanned aerial vehicle cannot be controlled simultaneously when the quad-rotor unmanned aerial vehicle fails in the prior art, the method for fault tolerance of the formation of the quad-rotor unmanned aerial vehicle based on multi-unmanned aerial vehicle distributed control is provided, firstly, the position and attitude control law of a quad-rotor unmanned aerial vehicle system under normal conditions is designed, then, a state observer is used for fault detection, whether the quad-rotor unmanned aerial vehicle fails in the formation process is judged, when the quad-rotor unmanned aerial vehicle fails, the self-adaptive sliding mode distributed control method is used in the quad-rotor formation, and the fault is estimated through self-adaptation, so that the fault tolerance control of the formation is realized; the model of the four rotors is under-actuated, the attitude of the unmanned aerial vehicle needs to be considered in the formation control of the four rotors and the formation control of the multi-agent, and the self-adaptive sliding mode distributed formation control law of the multi-unmanned aerial vehicle is designed, so that the self-adaptive sliding mode distributed formation of the four-rotor unmanned aerial vehicle is realized; considering that the four-rotor fault type is actuator partial failure fault, the adaptive sliding mode formation controller is designed to realize fault tolerance.
The invention adopts the following technical scheme for solving the technical problems:
a four-rotor drone formation fault-tolerant method based on multi-drone distributed control, the method comprising:
s1, constructing a fault power model of the multi-quad-rotor unmanned aerial vehicle:
wherein the content of the first and second substances,
θi,ψithe roll angle, the pitch angle and the yaw angle of the ith four-rotor unmanned aerial vehicle are respectively; x is the number ofi,yi,ziPosition coordinates of the ith quad-rotor unmanned aerial vehicle centroid; l is the distance from the rotor tip to the rotor nose; m is the mass of a quad-rotor drone, I is the moment of inertia of each axis, KiIs the coefficient of resistance, σiAs a failure factor (0 < sigma)i≤1)；
S2, designing a first sliding mode distributed controller of the four-rotor unmanned aerial vehicle formation process normal alignment position subsystem:
wherein, k is more than 0,
Pi＝[xi yi zi]Ts is the slip form face, aijIs the connectivity between quad-rotor drone i and quad-rotor drone j, i ═ 0,1,2,3,4, j (j ═ 0,1,2,3,4), and to the second sliding mode controller of the attitude subsystem:
wherein k is greater than 0, c1＞0,c2＞0,c3＞0；
S3, designing a state observer and a threshold, observing position faults of the quad-rotor unmanned aerial vehicle by the state observer, calculating residual errors between actual fault outputs of the quad-rotor unmanned aerial vehicle and observed fault outputs of the state observer, comparing the residual errors with the threshold, if the residual errors are larger than the threshold, judging that the corresponding quad-rotor unmanned aerial vehicle has faults, and turning to the step S4; otherwise, the first sliding mode distributed controller and the second sliding mode controller are adopted to control formation of the quad-rotor unmanned aerial vehicle;
s4, when the quad-rotor unmanned aerial vehicle breaks down, constructing a self-adaptive distributed sliding mode controller for the position subsystem:
wherein, k is more than 0,
γ＞0，Pi＝[xi yi zi]T，aijis the connectivity between quad-rotor drone i and quad-rotor drone j.
Further, the residual error is obtained by subtracting the actual fault output from the output of the state observer for the position fault observation of the quad-rotor unmanned aerial vehicle.
Further, the model of the location subsystem is:
wherein:
the attitude subsystem model is as follows:
the invention relates to a four-rotor unmanned aerial vehicle formation fault-tolerant method based on multi-unmanned aerial vehicle distributed control, which comprises the steps of firstly constructing a fault model of a plurality of four-rotor unmanned aerial vehicles, dividing the fault model into a position subsystem and a posture subsystem, respectively constructing sliding mode distributed controllers for the position subsystem and the posture subsystem, and carrying out formation control operation of a preset track on the four-rotor unmanned aerial vehicles under the condition of no fault; meanwhile, a state observer is arranged to observe the state of the quad-rotor unmanned aerial vehicle in real time, the output of the state observer and the fault output of the corresponding quad-rotor unmanned aerial vehicle obtained through actual measurement are subtracted to obtain a residual error, the residual error is compared with a set threshold value, and if the residual error is larger than the set threshold value, the fact that the corresponding quad-rotor unmanned aerial vehicle forms a fault is judged, so that an adaptive sliding mode distributed controller is designed to control the formation of the quad-rotor unmanned aerial vehicle, and the formation is guaranteed according to a preset track; compared with the prior art, the method has the advantages that the position of the quad-rotor unmanned aerial vehicle is controlled, the speed and the distance between other individuals in the formation are controlled, fault detection is carried out through the observer, whether a fault occurs or not is judged, and the expected track formation and speed can still be recovered after the fault occurs through switching of the control rate.
Drawings
Fig. 1 is a block diagram illustrating a flow chart of an implementation of the four-rotor unmanned aerial vehicle formation fault-tolerant method based on multi-unmanned aerial vehicle distributed control according to the embodiment of the present invention;
fig. 2 is a schematic diagram of a communication diagram when four drones are included in the embodiment of the present invention;
fig. 3 is a schematic diagram of relative positions of the drones when four drones are included in the embodiment of the present invention;
FIG. 4 is a schematic diagram of a control schematic of the adaptive sliding mode distribution controller according to an embodiment of the present invention;
fig. 5(a) and 5(b) are schematic diagrams illustrating speed tracking of the quad-rotor drone in an embodiment of the invention;
fig. 6(a) and 6(b) are schematic diagrams of attitude tracking of the quad-rotor drone in an embodiment of the present invention;
fig. 7 is a schematic xoy plan projection view of formation of quad-rotor drones under adaptive sliding mode distributed control according to an embodiment of the present invention;
fig. 8 is a schematic representation of a xoz plan view of formation of quad-rotor drones under adaptive sliding mode distributed control in accordance with an embodiment of the present invention;
fig. 9 is a schematic projection view of a yoz plane of a formation of quad-rotor unmanned aerial vehicles under adaptive sliding mode distributed control according to an embodiment of the invention;
fig. 10 is a schematic diagram of a self-adaptive sliding mode distributed three-dimensional formation of the quad-rotor unmanned aerial vehicle without failure according to the embodiment of the invention;
fig. 11 is a schematic diagram of a self-adaptive sliding mode distributed three-dimensional formation of a quad-rotor unmanned aerial vehicle with no fault and fault tolerance in the embodiment of the invention;
FIG. 12 is a schematic representation of a residual signal diagram of the state observer in an embodiment of the present invention;
fig. 13 is a schematic diagram of a three-dimensional fault-tolerant formation under adaptive sliding mode distributed control of a quad-rotor unmanned aerial vehicle according to an embodiment of the invention;
fig. 14 is a schematic diagram illustrating formation of quad-rotor unmanned aerial vehicles according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In an embodiment of the present invention, a four-rotor drone formation fault tolerance method based on multi-drone distributed control is provided, and referring to fig. 1, the method specifically includes the following steps:
s1, constructing a fault power model of the multi-quad-rotor unmanned aerial vehicle:
wherein the content of the first and second substances,
θi,ψithe roll angle, the pitch angle and the yaw angle of the ith four-rotor unmanned aerial vehicle are respectively; x is the number ofi,yi,ziPosition coordinates of the ith quad-rotor unmanned aerial vehicle centroid; l is the distance from the rotor tip to the rotor nose; m is the mass of a quad-rotor drone, I is the moment of inertia of each axis, KiIs a coefficient of resistance, σiAs a failure factor (0 < sigma)i≤1)；
In the embodiment, a formation control law is designed for a position subsystem of a fault dynamic model to ensure an expected formation, specifically, a quadrotor unmanned aerial vehicle is arranged in a plurality of quadrotor unmanned aerial vehicles to serve as a virtual leader, the speed of each quadrotor unmanned aerial vehicle and the distance between each quadrotor unmanned aerial vehicle and the virtual leader are set in the formation process, and the virtual leader is assumed to realize the tracking of an expected position; thereby realizing the position tracking of the whole formation.
Referring to fig. 2, which is an illustration, in particular, for the case that the multi-quad-rotor drone includes two communication topologies, where 0 represents a virtual leader, and 1,2,3, and 4 represent four quad-rotor drone followers, respectively.
With reference to fig. 4, in the embodiment of the present invention, the fault power model is divided into a position subsystem and an attitude subsystem; wherein, the model of the fault subsystem is as follows:
wherein:
therefore, the constructed fault power model can be expressed by the following formula:
wherein 0 < sigmaiLess than or equal to 1, when sigma isiWhen 1, the ith four-rotor unmanned aerial vehicle actuator is normal, and when 0 is less than sigmai< 1 indicates that the actuator portion of the ith quad-rotor drone failed.
Then, by the formula
Solving to obtain the attitude angle of the quad-rotor unmanned aerial vehicle:
and the attitude subsystem model with a quad-rotor unmanned aerial vehicle is as follows:
the attitude model of the quad-rotor drone can be modified to the following form:
wherein
Uir＝[u2,u3,u4]T。
S2, designing a first sliding mode distributed controller of a position subsystem in a normal formation process of the quad-rotor unmanned aerial vehicle:
wherein, k is more than 0,
Pi＝[xi yi zi]Ts is the slip form face, aijIs the connectivity between quad-rotor drone i and quad-rotor drone j, i ═ 0,1,2,3,4, j (j ═ 0,1,2,3,4) and to the second sliding mode controller of the attitude subsystem:
wherein k is greater than 0, c1＞0,c2＞0,c3＞0。
In particular, in the present invention, P is usediThe actual position of the ith unmanned aerial vehicle is shown, and the expected position relation between any two quadrotor unmanned aerial vehicles i and j is Pdi-PdjThe speed of the ith quad-rotor unmanned aerial vehicle is Vi＝[Vix,Viy,Viz]TThen the velocity tracking error is
The control target is
Pi-Pj→Pdi-Pdj＝PdijThe position control aims to keep the position and the attitude of the quad-rotor unmanned aerial vehicle consistent; preferably, the invention enables four-rotor unmanned aircraftThe slip form surface for aircraft flight is defined as:
further, there can be obtained:
the first sliding mode distributed controller is thus obtained as:
the second sliding mode controller is as follows:
s3, designing a state observer and a threshold, observing position faults of the quad-rotor unmanned aerial vehicle by the state observer, calculating a residual error between actual fault output of the quad-rotor unmanned aerial vehicle and observed fault output of the state observer, comparing the residual error with the threshold, if the residual error is greater than the threshold, judging that the corresponding quad-rotor unmanned aerial vehicle has faults, and turning to the step S4; otherwise, controlling formation of the quad-rotor unmanned aerial vehicle by adopting a first sliding mode distributed controller and a second sliding mode controller; specifically, further simplify four rotor unmanned aerial vehicle's trouble dynamic model into the form of state space:
wherein
In combination with the above-mentioned available state observer:
particularly, when the system fails, the state of the system changes, and whether the four rotors fail or not can be judged by taking the difference obtained by subtracting the output of the state observer from the actual output as a residual signal; at this time, the state observer can detect the time when the four-rotor drone fails, and the subsequent step S4 is performed to further obtain the actual failure occurrence position of the four-rotor drone.
S4, when the quad-rotor unmanned aerial vehicle breaks down, constructing an adaptive distributed sliding mode controller:
wherein, k is more than 0,
γ＞0，Pi＝[xi yi zi]T，aijis the connectivity between quad-rotor drone i and quad-rotor drone j.
In view of the definition of the sliding mode surface of the quadrotor unmanned aerial vehicle, a fault factor sigma can be obtainediIs estimated as
The error between the estimated value and the actual value can also be found as:
in order to obtain the self-adaptive distributed sliding mode controller, the invention firstly designs a Lyapunov function:
then, derivation of the Lyapunov function can be obtained:
finally, the obtained self-adaptive distributed sliding mode editing controller is as follows:
here, in order to better illustrate the effective control of the method of the present invention on the formation fault tolerance of the quad-rotor unmanned aerial vehicle, simulation is performed here to illustrate that:
set the position of the quad-rotor unmanned aerial vehicle as xd＝3t，yd＝2t，zd＝2，vxd＝3，vyd＝2，v zd0; with reference to fig. 2, if it is assumed that the actuator of the quad-rotor unmanned aerial vehicle 1 does not have a fault in the first 15s and a partial failure fault of the actuator of 0.5 occurs in 15s, an expected speed position and a formation are initially given by the method of the present invention, then a fault power model is established for a plurality of quad-rotor unmanned aerial vehicles, and an adaptive sliding mode control law is designed for a position subsystem, so that the quad-rotor unmanned aerial vehicle realizes formation fault-tolerant flight. Referring to fig. 4, a structural diagram of a four-rotor adaptive sliding mode distributed formation control system according to the present invention includes four parts, namely a virtual pilot design position controller and an attitude controller, a position design formation controller for a multi-four-rotor unmanned aerial vehicle, and an attitude design attitude controller for an attitude.
Fig. 5 is a graph of the respective velocity tracking of two quad-rotor drones of the invention 1,2, and fig. 6 is a graph of the respective attitude tracking of the quad-rotors of the invention, wherein the dashed lines represent expected values and the solid lines actual values; FIG. 7 is a planar projection of a quad-rotor adaptive sliding mode distributed formation XOY; FIG. 8 is a projection view of an XOZ plane of a four-rotor adaptive sliding mode distributed formation; FIG. 9 is a projection view of a four-rotor adaptive sliding mode distributed formation YOZ plane; fig. 10 shows a failure-free four-rotor self-adaptive sliding mode distributed three-dimensional formation, and it can be seen that four-rotor unmanned aerial vehicles can rapidly form the formation from different starting points, and the relative positions of the formation are (20, 0), (0, 20), (-20, 0), (0, -20).
Fig. 11 is a no-controller switching diagram after a fault, without control of the quad-rotor formation position, which maintains the desired speed and formation but does not return to the desired position after the fault. Fig. 12 shows a residual signal estimated by the state observer, and it is determined that a failure has occurred when the residual exceeds a threshold. Fig. 13 is a diagram of a quad-rotor adaptive sliding mode distributed three-dimensional fault-tolerant formation, in which at 15s, a 0.5-actuator partial failure of the quad-rotor drone 1 fails, and other quad-rotors are normal, so that it can be seen that the formation of the failed drone can still return to the desired position and maintain the desired formation. Fig. 14 is a diagram of a quad-rotor adaptive sliding mode distributed formation, from which four quad-rotor drones are obtained, which are changed from relative positions (10, 10), (-10, 10), (-10 ), (10, -10) to (20, 0), (0, 20), (-20, 0), (0, -20). According to the invention, effective control can be realized through the self-adaptive sliding mode distributed controller when the quad-rotor unmanned aerial vehicle breaks down, the quad-rotor unmanned aerial vehicle is ensured to fly according to a set track, and formation fault-tolerant control operation is realized.
The invention relates to a four-rotor unmanned aerial vehicle formation fault-tolerant method based on multi-unmanned aerial vehicle distributed control, which comprises the steps of firstly constructing a fault model of a plurality of four-rotor unmanned aerial vehicles, dividing the fault model into a position subsystem and an attitude subsystem, respectively constructing sliding mode distributed controllers for the position subsystem and the attitude subsystem, and performing formation control operation of a preset track on the four-rotor unmanned aerial vehicles without faults; meanwhile, a state observer is arranged to observe the state of the quad-rotor unmanned aerial vehicle in real time, the output of the state observer and the fault output of the corresponding quad-rotor unmanned aerial vehicle obtained through actual measurement are subtracted to obtain a residual error, the residual error is compared with a set threshold value, and if the residual error is larger than the set threshold value, the fact that the corresponding quad-rotor unmanned aerial vehicle forms a fault is judged, so that an adaptive sliding mode distributed controller is designed to control the formation of the quad-rotor unmanned aerial vehicle, and the formation is guaranteed according to a preset track; compared with the prior art, the method has the advantages that the position of the quad-rotor unmanned aerial vehicle is controlled, the speed and the distance between other individuals in the formation are controlled, fault detection is carried out through the observer, whether a fault occurs or not is judged, and the expected track formation and speed can still be recovered after the fault occurs through switching of the control rate.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing detailed description, or equivalent changes may be made in some of the features of the embodiments described above. All equivalent structures made by using the contents of the specification and the attached drawings of the invention can be directly or indirectly applied to other related technical fields, and are also within the protection scope of the patent of the invention.
Claims (3)
1. Four-rotor unmanned aerial vehicle formation fault-tolerant method based on multi-unmanned aerial vehicle distributed control is characterized by comprising the following steps:
s1, constructing a fault power model of the multi-rotor unmanned aerial vehicle:
wherein the content of the first and second substances,
θi,ψithe roll angle, the pitch angle and the yaw angle of the ith four-rotor unmanned aerial vehicle are respectively; x is the number ofi,yi,ziPosition coordinates of the ith quad-rotor unmanned aerial vehicle centroid; l is the distance from the rotor tip to the rotor nose; m is the mass of a quad-rotor drone, I is the moment of inertia of each axis, KiIs a coefficient of resistance, σiIs a failure factor, and 0 < sigmai≤1；
S2, designing a first sliding mode distributed controller of a position subsystem in the normal formation process of the quad-rotor unmanned aerial vehicle:
wherein, k is more than 0,
Pi＝[xi yi zi]Ts is the slip form face, aijIs the connectivity between quad-rotor drone i and quad-rotor drone j, i ═ 0,1,2,3,4, j ═ 0,1,2,3,4, and to the second sliding mode controller of the attitude subsystem:
wherein k is greater than 0, c1＞0,c2＞0,c3＞0；
S3, designing a state observer and a threshold value, observing position faults of the quad-rotor unmanned aerial vehicle by the state observer, calculating residual errors between actual fault outputs of the quad-rotor unmanned aerial vehicle and observed fault outputs of the state observer, comparing the residual errors with the threshold value, judging that the corresponding quad-rotor unmanned aerial vehicle has faults if the residual errors are larger than the threshold value, and turning to the step S4; otherwise, the first sliding mode distributed controller and the second sliding mode controller are adopted to control formation of the quad-rotor unmanned aerial vehicle;
s4, when the quad-rotor unmanned aerial vehicle breaks down, constructing a self-adaptive distributed sliding mode controller for the position subsystem:
wherein, k is more than 0,
γ＞0，Pi＝[xi yi zi]T，aijis the connectivity between quad-rotor drone i and quad-rotor drone j.
2. The method of claim 1, wherein the residual error is derived by subtracting the actual fault output from the state observer's output of a quad-rotor drone position fault observation.
3. The multi-drone distributed control based quad-rotor drone formation fault-tolerant method of claim 1, wherein the model of the location subsystem is:
wherein:
the attitude subsystem model is as follows:
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