无人机复合执行器故障有限时间容错控制

  • 郭玉英 ,
  • 廖兰馨 ,
  • 张晓强 ,
  • 张友民 ,
  • 王凯
展开
  • 1. 西南科技大学
    2. 加拿大康考迪亚大学机械、工业与航空工程系

收稿日期: 2025-08-04

  修回日期: 2025-10-29

  网络出版日期: 2025-10-30

基金资助

基于折射合成孔径聚焦的水下场景遮挡目标成像研究

Finite-time fault-tolerant control of compound actuator faults for unmanned aerial vehicles

  • GUO Yu-Ying ,
  • LIAO Lan-Xin ,
  • ZHANG Xiao-Qiang ,
  • ZHANG You-Min ,
  • WANG Kai
Expand

Received date: 2025-08-04

  Revised date: 2025-10-29

  Online published: 2025-10-30

摘要

针对四旋翼无人机同时发生执行器增益失效与偏置故障的复杂情况下有限时间轨迹跟踪控制难题,将快速终端滑模控制与确定性等价自适应机制结合,提出了有限时间自适应滑模容错控制 (Finite-Time Adaptive Sliding Mode Fault-Tolerant Control, FT-ASMFTC)。通过构建自适应律对复合故障参数进行实时估计,采用双曲正切函数抑制滑模抖振,结合有限时间 Lyapunov 稳定性理论,严格证明了故障后闭环系统状态在预设时间内收敛。通过滑模面对自适应过程进行约束,突破了传统自适应控制对故障参数精确辨识的依赖,实现了复合故障下系统鲁棒稳定性与有限时间收敛性的协同优化。将FT-ASMFTC与鲁棒全局快速终端滑模控制(Robust Global Fast Terminal Sliding Mode Control, RGFTSMC)和渐近自适应控制(Asymptotical Adaptive Control, AAC)进行了定量对比分析,结果表明,在FT-ASMFTC控制下,故障系统暂态响应快,稳态精度高,具有强鲁棒性和容错控制能力。

本文引用格式

郭玉英 , 廖兰馨 , 张晓强 , 张友民 , 王凯 . 无人机复合执行器故障有限时间容错控制[J]. 航空学报, 0 : 1 -0 . DOI: 10.7527/S1000-6893.2025.32659

Abstract

To solve the problem of finite-time trajectory tracking control for quadrotor UAVs with actuator gain loss and bias fault, a finite-time adaptive sliding mode fault-tolerant control (FT-ASMFTC) is developed by combining fast terminal sliding mode control with a certainty equivalence adaptive mechanism. Adaptive laws are constructed to achieve real-time estimation of composite fault parameters, while hyperbolic tangent function is employed to suppress sliding mode chattering. Using finite-time Lyapunov stability theory, the closed-loop system states are rigorously proven to converge to the equilibrium point within a prescribed-time after the occurrence of faults. The adaptive process boundaries are constrained through the sliding mode surface, and the dependence of traditional adaptive control on precise fault parameter identification is overcome, which achieve collaborative optimization of robust stability and finite-time convergence for the system with composite faults. Quantitative comparative analyses among FT-ASMFTC, RGFTSMC and AAC are given and demonstrate that the faulty system controlled by FT-ASMFTC method exhibits fast transient response,high steady-state accuracy, strong robustness, and good fault-tolerant control capability.

参考文献

[1]Sánchez G, E.M,González H,et alRobust IDA-PBC for under-actuated systems with inertia matrix dependent of the unactuated coordinates: application to a UAV carrying a load[J].Nonlinear Dynamics, 2021, 105(4):1-14
[2]Silva L A, Santos A D.Fast Nonsingular Terminal Sliding Mode Flight Control for Multirotor Aerial Vehicles[J].IEEE Transactions on Aerospace and Electronic Systems, 2020, 56(6):1-1
[3]Liu K, Wang R J.Antisaturation command filtered backstepping control-based disturbance rejection for a quadarotor UAV[J].IEEE Transactions Circuits and System II: Express Briefs, 2021, 68(12):3577-3581
[4]武天才, 王宏伦, 任斌, 严国乘, 吴星雨.基于学习的高超声速飞行器分层协调容错方法[J].航空学报, 2024, 45(22):1-13
[5]Tiancai WU, Honglun WANG, Bin REN, Guocheng YAN, Xingyu WU.Learning-based hierarchical coordination fault-tolerant method for hypersonic vehicles[J].Acta Aeronautica et Astronautica Sinica, 2024, 45(22):1-13
[6]Lulu C, Zhenbao L, Honggang G.Robust adaptive recursive sliding mode attitude control for a quadrotor with unknown disturbances[J].ISA transactions, 2022, 114-125.[J].ISA transactions, 2022, 122(0):114-125
[7]Yongduan S, Liu H, Dong Z, et al.Neuroadaptive Fault-Tolerant Control of Quadrotor UAVs: A More Affordable Solution[J].IEEE Transactions on Neural Networks and Learning Systems, 2019, 30(7):1975-1983
[8]Kang L, Yu W, Haibo J, et al.Adaptive saturated tracking control for spacecraft proximity operations via integral terminal sliding mode technique[J].International Journal of Robust and Nonlinear Control, 2021, 31(18):9372-9396
[9]王忠森, 廖宇新, 魏才盛, 等.高超声速飞行器快速终端滑模保性能容错控制[J].航空学报, 2023, 44(24):162-175
[10]WANG Z S, LIAO Y X, WEI C S, et al.Fast Terminal Sliding Mode Guaranteed Performance Fault - Tolerant Control for Hypersonic Vehicles[J].Acta Aeronautica et Astronautica Sinica, 2023, 44(24):162-175
[11]Vaseghi B, Mobayen, S, Hashemi S S, Fekih, A.Fast reaching finite time synchronization approach for chaotic systems with application in medical image encryption[J]. IEEE Access. 2021, (9): 25911-25925.[J].IEEE Access, 2021, 0(9):11-25
[12]Liu K, Gao H, Ji H, et al.Adaptive Sliding Mode Based Disturbance Attenuation Tracking Control for Wheeled Mobile Robots[J].International Journal of Control, Automation and Systems, 2019, 18(5):1-11
[13]Huang Y, Jia Y.Adaptive Fixed-Time Six-DOF Tracking Control for Noncooperative Spacecraft Fly-Around Mission[J].IEEE Trans. Contr. Sys. Techn, 2019, 27(4):1796-1804
[14]Cui G, Yang W, Yu J, et al.Fixed-Time Prescribed Performance Adaptive Trajectory Tracking Control for a QUAV[J].IEEE Transactions on Circuits and Systems II: Express Briefs, 2022, 69(2):494-498
[15]Liang X H, Wang Q, Hu C H, et al.Fixed-time observer based fault tolerant attitude control for reusable launch vehicle with actuator faults[J]. Aerospace Science and Technology, 2020, 107: 106314.[J].Aerospace Science and Technology, 2020, 107(0):1-12
[16]Ma D, Xia Y, Shen G, et al.Practical Fixed-time Disturbance Rejection Control for Quadrotor Attitude Tracking[J].IEEE Transactions on Industrial Electronics, 2020, PP(99):1-1
[17]Lv Jixing, Wang Changhong, Kao Yonggui.Adaptive fixed - time quantized fault-tolerant attitude control for hypersonic reentry vehicle[J].Neurocomputing, 2023, 520(0):1-11
[18]Qiang C, Shuzong X, Mingxuan S, et al.Adaptive Nonsingular Fixed-Time Attitude Stabilization of Uncertain Spacecraft[J].IEEE Transactions on Aerospace and Electronic Systems, 2018, 54(6):2937-2950
[19]Chen, Q, Xie, S, He, X.Neural-network-based adaptive singularity-free fixed-time attitude tracking control for spacecrafts[J].IEEE transactions on cybernetics, 2021, 51(10):5032-505
[20]李洁, 黄文新, 蔡一鸣, 等.基于的位置传感器故障诊断与容错控制[J].航空学报, 2024, 45(10):265-276
[21]Li J, Huang W X, Cai Y M, et al.Position Sensor Fault Diagnosis and Fault-Tolerant Control Based on DFPMM[J].Acta Aeronautica et Astronautica Sinica, 2024, 45(10):1-12
[22]Yue L, H.J P,Dan Y Asynchronous Fault Detection and Isolation for Markov Jump Systems With Actuator Failures Under Networked Environment[J].IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021, 51(6):1-11
[23]Sobhanipour H, Afzalian A A.Active fault tolerant control for switched positive linear systems[J].International Journal of Robust and Nonlinear Control, 2019, 29(14):4971-4984
[24]Yu Z, Qu Y, Zhang Y.Distributed Fault-Tolerant Cooperative Control for Multi-UAVs Under Actuator Fault and Input Saturation[J].IEEE Trans. Contr. Sys. Techn., 2019, 27(6):2417-2429
[25]Ziquan Y, Zhixiang L, Youmin Z, et al.Distributed Finite-Time Fault-Tolerant Containment Control for Multiple Unmanned Aerial Vehicles[J].IEEE Transactions on Neural Networks and Learning Systems, 2020, 31(6):1-15
[26]Yu Z, Zhang Y, Jiang B, et al.Composite adaptive disturbance observer - based decentralized fractional-order fault - tolerant control of networked UAVs[J].IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2022, 52(2):1-10
[27]Ziquan Y, Youmin Z, Bin J, et al.Fractional order PID-based adaptive fault-tolerant cooperative control of networked unmanned aerial vehicles against actuator faults and wind effects with hardware-in-the-loop experimental validation[J]. Control Engineering Practice, 2021, 114.[J].Control Engineering Practice, 2021, 114(0):1-12
[28]Hongyan Y, Yuchen J, S.Y. Adaptive Fuzzy Fault Tolerant Control for Markov Jump Systems with Additive and Multiplicative Actuator Faults[J].IEEE Transactions on Fuzzy Systems, 2020, 29(4):1-1
[29]Liu K, Wang R J, Wang X D, et al.Anti-saturation adaptive finite-time neural network based fault-tolerant tracking control for a quadrotor UAV with external disturbances[J]. Aerospace Science and Technology, 2021, 115: 106790.[J].Aerospace Science and Technology, 2021, 115(0):1-13
[30]崔正阳, 徐世洋, 倪越.基于扰动观测器的有限时间状态约束路径跟踪容错控制[J].宇航总体技术, 2025, 9(01):26-31
[31]Cui Z Y, Xu S Y, Ni Y.Finite-Time State-Constrained Path Tracking Fault-Tolerant Control Based on Disturbance Observer[J].Astronautical Systems Engineering Technology, 2025, 9(01):26-31
[32]张思洁, 吴怀宇, 郑秀娟.具有执行器故障的四旋翼无人机有限时间容错控制[J].控制理论与应用, 2023, 40(07):1270-1276
[33]Zhang S J, Wu H Y, Zhen X J.Finite-Time Fault-Tolerant Control for Quadrotor UAVs with Actuator Faults[J].Control Theory & Applications, 2023, 40(07):1270-1276
[34]Huang T, Li T, Chen C L P, et al.Attitude Stabilization for a Quadrotor Using Adaptive Control Algorithm[J].IEEE Transactions on Aerospace and Electronic Systems, 2024, 60(1):334-347
文章导航

/