| 引用本文: | 盖文东,李珊珊,张桂林,张婧.动态事件触发的无人机非线性系统故障检测[J].控制理论与应用,2022,39(8):1569~1578.[点击复制] |
| GAI Wen-dong,LI Shan-shan,ZHANG Gui-lin,ZHANG Jing.Dynamic event-triggered fault detection for unmanned aerial vehicles nonlinear system[J].Control Theory and Technology,2022,39(8):1569~1578.[点击复制] |
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| 动态事件触发的无人机非线性系统故障检测 |
| Dynamic event-triggered fault detection for unmanned aerial vehicles nonlinear system |
| 摘要点击 1612 全文点击 460 投稿时间：2021-12-30 修订日期：2022-08-31 |
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| DOI编号 10.7641/CTA.2022.11305 |
| 2022,39(8):1569-1578 |
| 中文关键词 无人机 非线性系统 故障检测 动态事件触发 Hi/H1优化 |
| 英文关键词 unmanned aerial vehicles nonlinear system fault detection dynamic event-triggered Hi/H1 optimal |
| 基金项目 国家自然科学基金项目(61873149, 61603220), 山东省重点研发计划项目(2019GGX103049), 青年教师教学拔尖人才培养计划项目 (BJRC20190504)资助. |
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| 中文摘要 |
| 本文在Hi/H1优化框架下, 研究基于动态事件触发的无人机非线性系统故障检测问题. 高空、长航时无人
机需要通过通信网络与地面站进行数据交互, 以实现故障检测等复杂功能. 为了充分利用有限的通信资源, 采用动
态事件触发机制决定是否将测量输入输出数据传送给故障检测模块, 若传输数据不满足触发条件则被丢弃, 因此,
故障检测性能不仅受到干扰和故障影响, 还受到非事件触发时刻数据与实际系统数据误差影响, 即事件触发传输误
差影响. 为此, 针对无人机非线性系统, 提出一种新的动态事件触发Hi/H1故障检测方法. 该方法可以在动态事件触
发条件下, 实现故障检测滤波器残差与事件传输误差完全解耦, 能够避免连续通信和Zeno现象. 在Hi/H1优化框架
下, 通过Riccati方程递归计算, 得到动态事件触发故障检测滤波器的最优解. 最后, 以无人机非线性姿态控制系统为
例, 验证所提方法的有效性和可行性. |
| 英文摘要 |
| This paper deals with the problem of dynamic event-triggered fault detection (FD) for unmanned aerial
vehicle (UAV) nonlinear system in the Hi/H1 optimization framework. High-altitude and long-endurance UAV need to
communicate with ground stations through communication networks to realize complex functions such as FD. In order
to utilize limited communication resources, a dynamic event-triggered mechanism is considered to determine whether the
measurement input and output should be transmitted to the FD module. As such, the FD performance is affected not only
by disturbance and fault, but also the error between the data of nonevent time and current actual system data, which is the
so-called event-triggered transmission error. To overcome this, a new dynamic event-triggered Hi/H1 optimization FD is
presented. The main contribution is the complete decoupling of residuals from event transmission errors in the dynamic
event-triggered condition, and the proposed method is able to avoid continuous communication and Zeno phenomenon. In
the Hi/H1 optimization framework, the optimal solution of dynamic event-triggered fault detection filter is obtained by
recursive calculation of Riccati equation. Finally, an nonlinear attitude control system of the UAV is adopted to demonstrate
the effectiveness of the proposed method and feasibility of application. |
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