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针对一类存在未知外部扰动和执行器故障的过驱飞行器系统的控制问题,提出了一种非线性自适应控制方案。在自适应控制方案中,设计了神经网络补偿算法逼近未知干扰项来消除环境干扰对系统的影响,提高了系统的鲁棒性。同时,控制律的输出作为控制分配器的输入,设计自适应控制分配算法来补偿执行器故障或输入饱和,从而提高了系统的稳定性和操作性,并利用李亚普诺夫稳定理论证明了所设计的控制系统能使误差系统最终一致渐近有界。最后,给出了一个数值仿真算例,验证了控制方法的有效性。
Aiming at the control of a kind of over-driven aircraft system with unknown external disturbances and actuator failures, a nonlinear adaptive control scheme is proposed. In the adaptive control scheme, the neural network compensation algorithm is designed to approximate the unknown interference term to eliminate the influence of environmental interference on the system and improve the system robustness. At the same time, the output of the control law is used as the input of the control distributor. The adaptive control distribution algorithm is designed to compensate the actuator fault or input saturation, which improves the stability and operability of the system. The Lyapunov stability theory is used to prove that the designed The control system can eventually make the error system asymptotically bounded. Finally, a numerical example is given to verify the effectiveness of the control method.