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.
关键词
六旋翼无人机/执行器故障补偿/稳定性和跟踪性/自适应
Key words
six-rotor UAV/actuator fault compensation/stability and traceability/adaptive
维普
万方数据