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-  2018 

电力巡检无人机的鲁棒自适应容错控制 Robust adaptive fault tolerate control for stability control of electric patrol survey UAV

Keywords: 无人机巡检,数学模型,鲁棒自适应容错控制

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Abstract:

针对电力巡检飞行器飞行过程中飞行模式、飞行姿态建立了数学模型,并进行分析.建立了无人机巡检过程的飞行运动及优化控制模型,以满足无人机巡检的约束条件,并提出了鲁棒自适应容错控制算法.以四旋翼飞行器为例进行仿真研究,对不同的运动模型采用不同的优化控制,并加入不同的干扰信号及相应滤波算法进行抗干扰性能测试.仿真结果表明,利用鲁棒自适应容错控制,无人机能够取得良好的控制效果,并且其稳定性及抗干扰性能得到了显著地提升

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