四旋翼无人机姿态控制传感器故障的区间估计

doi:10.16180/j.cnki.issn1007-7820.2021.10.009

Abstract

Abstract:

This study aims at estimating the sensor fault interval of attitude control system of quadrotor UAV based on zonotopes. The UAV’s nonlinear system is linearized by Taylor series expansion and the original system is transformed into an equivalent generalized system by considering the sensor fault as an augmented state. A robust augmented state observer is design by using H_∞ technique. By solving the linear matrix inequalities, the fault estimation of sensor in quadrotor UAV attitude control system is obtained. The fault interval and algorithm design can be obtained by the analysis of zonotopes. Based on the MATLAB simulation platform, taking the quadrotor UAV attitude control sensor failure system as the object, the feasibility and effectiveness of the interval estimation proposed in the study are verified.

Key words: quadrotor UAV, zonotopes, state obverser, sensor fault, linear matrix inequalities, discrete-time linear system, descriptor system, set membership estimation

CLC Number:

TP273

YANG Yuwei,SONG Fang,ZHANG Wei. Interval Estimation of Sensor Fault for Attitude Control System of UAV[J].Electronic Science and Technology, 2021, 34(10): 56-62.

Figures/Tables 3

References 24

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符号	名称	数值
K_tc	旋翼顺时针力矩系数/N·m·V^-1	0.003 6
K_tn	旋翼逆时针力矩系数/N·m·V^-1	-0.003 6
K_f	旋翼升力系数/N·V	0.118 8
l	旋转中心与旋翼中心的距离/m	0.197 0
J_θ	俯仰轴转动惯量/kg·m²	0.110 0
J_φ	翻转轴转动惯量/kg·m²	0.005 2
J_ψ	偏航轴转动惯量/kg·m²	0.005 2

Interval Estimation of Sensor Fault for Attitude Control System of UAV

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