Integral Sliding Mode based Model Reference FTC of an Over-Actuated Hybrid UAV using Online Control Allocation
Integral Sliding Mode based Model Reference FTC of an Over-Actuated Hybrid UAV using Online Control Allocation
复制标题
基于积分滑模的过驱动混合无人机模型参考 FTC 使用在线控制分配
DOI：
10.23919/acc45564.2020.9147655
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
G. Stomberg
中科院分区：
文献类型：
--
作者：
K. Prochazka;G. Stomberg
提出了一种基于解析冗余的双系统混合无人机（UAV）主动容错控制（FTC）的新概念，以提高UAV在主执行器故障情况下的运行安全性。该方案利用了混合无人机固有的过驱动特性，除了气动表面，四个升力转子用于控制飞机在远程固定翼飞行模式。容错是通过利用积分滑模模型参考控制法结合控制分配技术，在健康的执行器在面对执行器故障和保持标称闭环性能之间重新分配控制信号。在介绍了无人机的建模过程，包括升力旋翼和机体动力学之间的气动交叉耦合的识别之后，给出了硬件在环（HIL）仿真结果，以证明所提出的方案在实际硬件设置中的有效性。
This paper presents a novel concept for active fault-tolerant control (FTC) of dual system hybrid unmanned aerial vehicles (UAVs) based on analytical redundancy to increase the operational safety in the face of primary actuator faults. The proposed scheme exploits the inherent overactuation property of hybrid UAVs when in addition to the aerodynamic surfaces four lift rotors are used to control the aircraft during long range fixed-wing flight mode. Fault tolerance is achieved by utilizing an integral sliding mode based model reference control law combined with control allocation techniques to reallocate control signals among healthy effectors in the face of actuator faults and maintain nominal closedloop performance. After introducing the modelling procedure of the UAV, including the identification of aerodynamical cross-couplings between lift rotors and airframe dynamics, Hardware-in-the-loop (HIL) simulation results are presented to demonstrate the efficiency of the proposed scheme in a realistic hardware setup.
DOI：
10.1109/ccta.2018.8511344
发表时间：
2018-08
期刊：
2018 IEEE Conference on Control Technology and Applications (CCTA)
影响因子：
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作者：
A. Khattab;H. Alwi;C. Edwards
通讯作者：
A. Khattab;H. Alwi;C. Edwards