Fault-tolerant control of quadrotor UAV attitude system with actuator failure
For a quadrotor attitude system with actuator faults and multi-source interference,the problem of the command tracking control with unknown attitude error rate is studied,and a sliding mode adaptive self-coupling PD fault-tolerant control strategy based on prescribed performance is proposed with a high-order sliding mode observer.Firstly,a quadrotor attitude dynamic model with external interference and actuator failure is constructed,and the virtual control is introduced to de-couple the three-channel attitude tracking error system.Secondly,a high-order sliding mode observ-er is used to estimate the tracking error rate and lumped disturbance of each channel in finite time,and prescribed performance function is introduced to limit the attitude angle tracking error to a preset boundary.Finally,an adaptive self-coupling PD fault-tolerant control law is designed based on the attitude system model of the quadrotor UAV,and the traditional self-coupling PD speed factor is op-timized by using the integral sliding mode surface to realize the online adaptive speed factor.The stability of the controller is proven using the Lyapunov analysis method.Simulation results show that the proposed control method has good fault-tolerant and anti-interference performance.
quadrotor UAVactuator failuresliding mode observerprescribed performanceself-coupling PD control
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