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Barrier Function Based Adaptive Global Sliding Mode Fault-tolerant Control of Quad-rotor UAV
Pu Yang,Peng Liu,HuiLin Geng,ChenWan Wen,Bin Jiang 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.3
In this paper, Barrier function based adaptive global sliding mode fault-tolerant control and its application in quad-rotor UAV system are studied. Firstly, the global sliding mode surface is combined with Barrier function based adaptive sliding mode control, which omits the approach process of phase I of traditional Barrier adaptive sliding mode motion, thus improving the rapidity and accuracy of the algorithm. Secondly, the Barrier function adaptive law is used to adjust the gain of the switching term, so that the controller gain can change with the amplitude of the total disturbance in a timely and accurate manner, avoiding the overestimation problem and thus reducing the chattering of the control signal. Finally, the experimental results on the fault-tolerant control platform for multi-rotor UAVs prove the effectiveness and superiority of the proposed algorithm.