基于滑模观测器的无人机编队故障诊断

doi:10.11959/j.issn.2096-3750.2017.00020

物联网学报 ›› 2017, Vol. 1 ›› Issue (2): 68-75.doi: 10.11959/j.issn.2096-3750.2017.00020

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

南京航空航天大学自动化学院，江苏南京 211106

修回日期:2017-08-10 出版日期:2017-09-01 发布日期:2018-03-10
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。
基金资助:
国家自然科学基金资助项目(61533008);中央高校基本科研业务费专项基金资助项目(NJ20150011);中央高校基本科研业务费专项基金资助项目(NS2017017)

Fault diagnosis based on sliding mode observer for formation of UAVs

Jun-peng SHI,Jian-wei LIU,Pu YANG,Bin JIANG

College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China

Revised:2017-08-10 Online:2017-09-01 Published:2018-03-10
Supported by:
The National Natural Science Foundation of China(61533008);The Fundamental Research Funds for the Central Universities(NJ20150011);The Fundamental Research Funds for the Central Universities(NS2017017)

摘要/Abstract

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。

关键词: 滑模观测器, 长僚机编队, 执行器故障, 故障估计

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.

Key words: sliding mode observer, leader-follow structure, actuator fault, fault estimation

中图分类号:

TP273

施俊鹏,刘剑慰,杨蒲,姜斌. 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,Bin JIANG. Fault diagnosis based on sliding mode observer for formation of UAVs[J]. Chinese Journal on Internet of Things, 2017, 1(2): 68-75.

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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

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