执行机构故障下变体飞行器预设性能容错跟踪控制
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火箭军工程大学

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V249.1

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国家自然科学基金资助项目(62473374,62403487,U2441243)


Prescribed performance fault-tolerant tracking control for morphing aircraft under actuator faults
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    摘要:

    针对变体飞行器在翼展变形过程中执行机构故障、复合干扰及收敛时间受限问题,提出一种预设性能滑模容错跟踪控制方法。建立变体飞行器纵向非线性模型及故障模型,并解耦为姿态与速度子系统以简化控制器设计。引入改进的非线性干扰观测器,精确估计并实时补偿执行机构故障和复合干扰。设计预设性能滑模容错控制器,确保跟踪误差可在完全独立于初始状态的条件下,在预设时间内收敛至预设精度范围,从而保证系统的瞬态与稳态性能及飞行安全。构建Lyapunov函数证明系统一致最终有界,且跟踪误差在预设时间内收敛。仿真结果验证了所提方法的有效性、鲁棒性及容错性能。

    Abstract:

    To address the problems of actuator faults, composite disturbances, and time-constrained convergence encountered during wing deformation of morphing aircraft, a prescribed performance sliding mode fault-tolerant tracking control method was proposed. A longitudinal nonlinear model and fault model of the morphing aircraft were established, which were decoupled into attitude and velocity subsystems to simplify controller design. Improved nonlinear disturbance observers were introduced to accurately estimate and compensate for actuator faults and composite disturbances in real time. Prescribed performance sliding mode fault-tolerant controllers were designed to ensure that tracking errors converge to a prescribed precision range within prescribed time, completely independent of initial states, thereby guaranteeing both transient and steady-state performance while maintaining flight safety. The uniformly ultimately bounded stability of the system and prescribed time convergence of tracking errors were rigorously proved via Lyapunov function. Simulation results validate the effectiveness, robustness, and fault-tolerant performance of the proposed method.

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历史
  • 收稿日期:2025-06-28
  • 最后修改日期:2025-10-10
  • 录用日期:2025-09-26
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