弹道
控制理论(社会学)
混蛋
执行机构
控制工程
控制系统
计算机科学
方案(数学)
工程类
控制(管理)
人工智能
物理
电气工程
加速度
数学分析
经典力学
数学
天文
作者
Xiaobin Zhou,Xiang Yu,Kexin Guo,Sicheng Zhou,Lei Guo,Youmin Zhang,Xiaoyan Peng
出处
期刊:IEEE transactions on cybernetics
[Institute of Electrical and Electronics Engineers]
日期:2021-09-29
卷期号:53 (3): 1738-1751
被引量:22
标识
DOI:10.1109/tcyb.2021.3113168
摘要
This article considers the safety control problem of a quadrotor unmanned aerial vehicle (UAV) subject to actuator faults and external disturbances, based on the quantization of system capability and safety margin. First, a trajectory function is constructed online with backpropagation of system dynamics. Therefore, a degraded trajectory is gracefully regenerated, via the tradeoff between the remaining system capability and the expected derivatives (velocity, jerk, and snap) of the trajectory. Second, a control-oriented model is established into a form of strict feedback, integrating actuator malfunctions and disturbances. Therefore, a retrofit dynamic surface control (DSC) scheme based on the control-oriented model is developed to improve the tracking performance. When comparing to the existing control methods, the compensation ability is analyzed to determine whether the faults and disturbances can be handled or not. Finally, simulation and experimental studies are conducted to highlight the efficiency of the proposed safety control scheme.
科研通智能强力驱动
Strongly Powered by AbleSci AI