Fault Tolerant Control of Adaptive Six-Rotor VAV Based on Backstepping
An adaptive actuator fault compensation scheme based on backstepping is proposed due to possible uncertain faults of motors of six-rotor VAV,which affecting the safety of the UAV during flight.When the failure mode and failure time are unknown,the unknown parameters of the failure mode and fail-ure time are estimated to compensate for the uncertain actuator failures with the adaptive method.Through analysis,the designed controller can achieve the expected control objectives of closed-loop system stability and asymptotic output tracking in the case of unknown failures of the six-rotor UAV actuator.The simula-tion results verify the effectiveness of the fault-tolerant control method.
six-rotor UAVactuator fault compensationstability and traceabilityadaptive
万方数据
维普
