In order to guarantee the safe flight of the quadrotor unmanned aerial vehicles(QUAV)with unknown external disturbance and actuator fault,the paper presents a robust compensation fault-tolerant tracking control strategy based on interval observer technology.Firstly,the nonlinear system model of QUAV with unknown disturbance and actuator fault was established.Secondly,an interval observer was constructed to estimate the disturbance term of the QUAV system,and a nominal controller was designed based on the estimated values.The introduction of the compensation terms can weaken the adverse effects of actuator failure faults on the system.Finally,a robust compensation fault-tolerant controller for the QUAV was developed based on the basic framework of backstepping control.The simulation results show that the fault-tolerant controller developed in this paper can alleviate the adverse effects of disturbance and fault on the system and effectively improve the safety performance of QUAV.
关键词
自动控制/四旋翼无人机/区间观测器/执行器故障/反步控制
Key words
automatic control/quadrotor unmanned aerial vehicle/actuator fault/compensation fault-tolerant control/backstepping control
维普
万方数据