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首页> 外文期刊>International journal of applied mathematics and computer science >Systematic fault tolerant control based on adaptive Thau observer estimation for quadrotor UAVs
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Systematic fault tolerant control based on adaptive Thau observer estimation for quadrotor UAVs

机译：基于自适应Thau观测器估计的四旋翼无人机系统容错控制

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摘要

A systematic fault tolerant control (FTC) scheme based on fault estimation for a quadrotor actuator, which integrates normal control, active and passive FTC and fault parking is proposed in this paper. Firstly, an adaptive Thau observer (ATO) is presented to estimate the quadrotor rotor fault magnitudes, and then faults with different magnitudes and time-varying natures are rated into corresponding fault severity levels based on the pre-defined fault-tolerant boundaries. Secondly, a systematic FTC strategy which can coordinate various FTC methods is designed to compensate for failures depending on the fault types and severity levels. Unlike former stand-alone passive FTC or active FTC, our proposed FTC scheme can compensate for faults in a way of condition-based maintenance (CBM), and especially consider the fatal failures that traditional FTC techniques cannot accommodate to avoid the crashing of UAVs. Finally, various simulations are carried out to show the performance and effectiveness of the proposed method.
机译：提出了一种基于故障估计的四旋翼执行器系统容错控制方案，该方案将常规控制，主动和被动FTC以及故障停车集成在一起。首先，提出了自适应Thau观测器（ATO）来估计四旋翼转子的故障幅度，然后根据预定义的容错边界将具有不同幅度和时变性质的故障定为相应的故障严重性级别。其次，设计一种可以协调各种FTC方法的系统FTC策略，以根据故障类型和严重性级别来补偿故障。与以前的独立被动式FTC或主动式FTC不同，我们提出的FTC方案可以通过基于状态的维护（CBM）来补偿故障，并且特别考虑传统FTC技术无法避免致命故障的致命故障。最后，进行了各种仿真，以显示该方法的性能和有效性。

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