Adaptive robust fault-tolerant control of plant protection unmanned aerial vehicle with multiple actuator faults
Aiming at the altitude and attitude control problem of plant protection unmanned aerial vehicle under actuator fault condition,an adaptive robust fault-tolerant control algorithm for plant protection unmanned aerial vehicle is proposed.Based on the establishment of the altitude dynamics model,attitude dynamics model and actuator fault model,according to the principle of nonlinear back-stepping adaptive control,a robust fault-tolerant controller for altitude and attitude adaptive controller without fault detection and isolation mechanism is designed.The self-adaptability of the fault-tolerant controller guarantees the tracking control performance of height and attitude under multiple actuator faults,and the stability of the system under modeling uncertainties is guaranteed by robust control.The results showed that under the condition of single actuator fault,the maximum error of height and attitude tracking of plant protection UAV were 0.13 m and[±3.26°±2.71°±1.16°],respectively.Under the condition of multi-actuator failure,the maximum error of height and attitude tracking of plant protection UAV is 0.21 m and[±3.11°±4.75°±3.07°],respectively.The proposed method can effectively ensure the height and attitude tracking performance of the plant protection unmanned aerial vehicle,and the tracking error asymptotically converges.
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