Modified model reference adaptive control of UAV with wing damage
Modified model reference adaptive control of UAV with wing damage
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DOI：
10.1109/iccar.2016.7486724
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发表时间：
2016-04
期刊：
影响因子：
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通讯作者：
Yanbin Xiao;Y. Fu;Chengfu Wu;Pengyuan Shao
中科院分区：
文献类型：
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作者：
Yanbin Xiao;Y. Fu;Chengfu Wu;Pengyuan Shao
针对无人机常见故障，特别是机翼损伤问题，提出了一种改进的模型参考自适应控制（MRAC）和侧滑控制相结合的方法。通过配平分析，提出了利用侧滑角产生额外操纵力和力矩来平衡非对称损伤的控制策略。基于比例-积分-微分型控制逻辑，设计了一种实用的侧滑控制器。提出了一种改进的MRAC方法，并将其应用于保证受损系统的全局渐近稳定性。仿真结果表明，该混合控制器能够提高无人机在机翼损伤情况下的可靠性。
This paper presents a modified model reference adaptive control (MRAC) combined with a sideslip controller to mitigate common UAV failures especially wing damages. A trim analysis is developed to introduce the control strategy that sideslip angle which can produce extra control forces and moments can be utilized to balance the vicious effects caused by asymmetric damages. A practical sideslip controller is designed based on proportional-integral-derivative type control logic. A modified MRAC method is explored and applied to guarantee the global asymptotical stability of the damaged systems. Simulations show that this blended controller can increase the reliability of UAV in the presence of wing damages.