Aiming at the trajectory tracking task of quadrotor UAV under actuator malfunction,an adaptive fault-tolerant control method based on fuzzy gain sliding mode is proposed.Firstly,for the direct control channel,the adaptive mechanism is used to estimate and compensate for actuator faults and the sliding mode controller based on fuzzy gain is used to design the adjustable controller to meet the requirements of robustness.For the indirect drive channel,the sliding mode controller based on fuzzy gain is designed to achieve control of the UAV.This method has good fault-tolerant ability and it can suppress the system chatter and obtain smooth control signals.Finally,the tracking performance of the quadrotor UAV under different controllers is compared and simulated and the results show that the system has good flight performance in the presence of fault and interference.
quadrotor UAVactuator failurefuzzy controladaptive controlfault-tolerant control
NETL
NSTL
维普
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