基于滑模观测器的无人机编队故障诊断

施俊鹏; 刘剑慰; 杨蒲; 姜斌

doi:10.11959/j.issn.2096-3750.2017.00020

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基于滑模观测器的无人机编队故障诊断

理论与技术 | 更新时间：2024-06-05

- 基于滑模观测器的无人机编队故障诊断
- Fault diagnosis based on sliding mode observer for formation of UAVs
- 物联网学报 2017年1卷第2期页码：68-75
- 作者机构：
- 作者简介：
  
  [ "施俊鹏（1992-），男，南京航空航天大学硕士生，主要研究方向为无人机群故障诊断与容错控制。" ]
  [ "刘剑慰（1977-），男，南京航空航天大学副教授，主要研究方向为网络控制系统故障检测与容错控制。" ]
  [ "杨蒲（1977-），男，南京航空航天大学副教授，主要研究方向为多机编队故障检测与容错控制。" ]
  [ "姜斌（1966-），男，南京航空航天大学教授，主要研究方向为控制系统故障诊断与容错控制及其飞控和高铁应用。" ]
- 基金信息：
  
  国家自然科学基金资助项目;The National Natural Science Foundation of China(61533008);中央高校基本科研业务费专项基金资助项目;The Fundamental Research Funds for the Central Universities(NJ20150011);中央高校基本科研业务费专项基金资助项目;The Fundamental Research Funds for the Central Universities(NS2017017)
- DOI：10.11959/j.issn.2096-3750.2017.00020
  中图分类号： TP273
- 纸质出版日期：2017-09-30，
  
  网络出版日期：2017-09，
- 稿件说明：
移动端阅览
施俊鹏, 刘剑慰, 杨蒲, 等. 基于滑模观测器的无人机编队故障诊断[J]. 物联网学报, 2017,1(2):68-75.

JUN-PENG SHI, JIAN-WEI LIU, PU YANG, et al. Fault diagnosis based on sliding mode observer for formation of UAVs. [J]. Chinese journal on internet of things, 2017, 1(2): 68-75.
施俊鹏, 刘剑慰, 杨蒲, 等. 基于滑模观测器的无人机编队故障诊断[J]. 物联网学报, 2017,1(2):68-75. DOI： 10.11959/j.issn.2096-3750.2017.00020.

JUN-PENG SHI, JIAN-WEI LIU, PU YANG, et al. Fault diagnosis based on sliding mode observer for formation of UAVs. [J]. Chinese journal on internet of things, 2017, 1(2): 68-75. DOI： 10.11959/j.issn.2096-3750.2017.00020.

摘要

针对有向图网络拓扑描述下的长僚机结构的无人机编队系统进行研究，在发生有上界未知的执行器故障的情况下，设计并验证了基于分布式自适应滑模观测器的故障估计方法。首先，对于单一系统，引入基于有向图网络拓扑结构的相对输出误差来表征个体信息的交互，并由此设计对应的滑模观测器并加入自适应理论来应对故障上界未知的情况。其次，定义并构造全局误差系统并通过 Lyapunov 理论完成了稳定性和滑模到达条件的证明。最后，通过线性矩阵不等式工具箱解算出所有待设计参数并通过 Matlab 仿真来验证了方法的有效性。

Abstract

Under the directed network topology

formation of UAVs with leader-follower structure was studied.And a fault estimation method using distributed adaptive sliding mode observer was designed for actuator fault with unknown upper bound.First of all

for each network node

based on the directed network topology

relative output estimation error was introduced to show information exchanges between neighbouring nodes.And a corresponding sliding mode observer was constructed.Then the global error system was defined

and the stability and sliding mode reaching condition was proved by Lyapunov theory.At last

all the parameters to be designed were calculated by the linear matrix inequality toolbox

and the validity of the proposed method was verified by Matlab simulation.

关键词

滑模观测器长僚机编队执行器故障故障估计

Keywords

sliding mode observerleader-follow structureactuator faultfault estimation

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