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首页> 外文期刊>International Journal of Control >A fault tolerant tracking control for a quadrotor UAV subject to simultaneous actuator faults and exogenous disturbances
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A fault tolerant tracking control for a quadrotor UAV subject to simultaneous actuator faults and exogenous disturbances

机译：足够UAV经过同时执行器故障和外源干扰的足够容忍跟踪控制

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摘要

An observer-based robust adaptive Fault Tolerant Control approach is proposed in this paper to tackle the problem of trajectory tracking for a quadrotor unmanned aerial vehicle (UAV) suffering simultaneous actuator faults, exogenous disturbances and actuator saturation limits. An adaptive fuzzy state observer is proposed to estimate the immeasurable states by using fuzzy logic systems to approximate the unknown nonlinear functions of the uncertain system model. Based on the estimates of the fuzzy observer, an Integral Terminal Sliding Mode Controller that guarantees finite time convergence of the states to a small neighbourhood of zero, even under impaired conditions, is developed. Stability analysis was carried over using the Lyapunov method. The proposed approach was implemented to a quadrotor UAV and its performance was assessed under nominal conditions, and by subjecting the quadrotor to disturbances, simultaneously occurring actuator faults and input saturation limits. Excellent tracking performance and robustness even under worst-case scenarios are among the positive features of the proposed approach.
机译：在本文中提出了一种基于观察者的鲁棒自适应容错控制方法，以解决足够的异常型航空公司（UAV）同时执行器故障，外源干扰和致动器饱和限制的轨迹跟踪问题。提出了一种自适应模糊状态观察者来估计通过模糊逻辑系统来估计不确定系统模型的未知非线性功能的无法估量状态。基于模糊观察者的估计，开发了一种积分终端滑动模式控制器，其确保状态为零的小邻域内，即使在受损条件下也是如此。使用Lyapunov方法进行稳定性分析。该拟议的方法是实施的四轮车UAV，其性能在名义条件下进行评估，并通过使四轮压力机进行干扰，同时发生执行器故障和输入饱和限制。即使在最坏情况的情况下，良好的跟踪性能和鲁棒性是所提出的方法的正面特征。

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