Robust Compensation Fault-Tolerant Flight Control of Quadrotor Unmanned Aerial Vehicles
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.
automatic controlquadrotor unmanned aerial vehicleactuator faultcompensation fault-tolerant controlbackstepping control
万方数据
维普
