无人机复合执行器故障有限时间容错控制
收稿日期: 2025-08-04
修回日期: 2025-09-03
录用日期: 2025-10-27
网络出版日期: 2025-10-30
基金资助
国家自然科学基金(62201479)
Finite-time fault-tolerant control of compound actuator faults for unmanned aerial vehicles
Received date: 2025-08-04
Revised date: 2025-09-03
Accepted date: 2025-10-27
Online published: 2025-10-30
Supported by
National Natural Science Foundation of China(62201479)
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（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，结合有限时间李雅普诺夫稳定性理论，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（RGFTSMC）、渐近自适应控制（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。
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, 2026 , 47(4) : 332659 -332659 . DOI: 10.7527/S1000-6893.2025.32659
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， achieving collaborative optimization of robust stability and finite-time convergence for the system with composite faults. Quantitative comparative analyses among FT-ASMFTC， Robust Global Fast Terminal Sliding Mode Control （RGFTSMC） and Asymptotic Adaptive Control （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.
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