Prescribed-time extended state observer and prescribed performance control of quadrotor UAVs against actuator faults

Wenquan Gong; Bo Li; Choon Ki AhnYongsheng Yang

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Prescribed-time extended state observer and prescribed performance control of quadrotor UAVs against actuator faults

机译：Prescribed-time extended state observer and prescribed performance control of quadrotor UAVs against actuator faults

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摘要

The detection and accommodation of actuator faults in control systems have received considerable attention. However, the existing fault-tolerant control techniques typically require complex and computationally intensive algorithms, and the settling time cannot be pre-assigned offline, which limits the practical applicability of these techniques. To address these problems, this paper proposes a prescribed-time fault-tolerant tracking control scheme for accommodating actuator failures in quadrotor unmanned aerial vehicles. First, a prescribed-time nominal controller is developed to precisely track the desired position in the absence of actuator faults. Subsequently, an extended state observer is developed to precisely estimate the uncertainties derived from actuator failures. Using the estimated values, a prescribed-time tracking control scheme is designed for the position subsystem, based on the prescribed performance control technique. In addition to having a simple structure, the proposed controller relaxes the limits that both the settling time and desired transient- and steady-state performances cannot be pre-assigned. Similarly, an observer-based prescribed-time tracking control scheme is established for the attitude subsystem under actuator failures. Numerical simulations are performed to validate the effectiveness and robustness of the proposed control method.

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来源
《Aerospace science and technology》 |2023年第7期|108322.1-108322.13|共13页
作者
Wenquan Gong; Bo Li; Choon Ki AhnYongsheng Yang;
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作者单位

Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai, 201306, China ,School of Electrical Engineering, Korea University. Seoul 136-701 South Korea;

Institute of Logistics Science and Engineering, Shanghai Maritime University, Shanghai, 201306, China;

School of Electrical Engineering, Korea University. Seoul 136-701 South Korea;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种英语
中图分类
关键词
Quadrotor unmanned aerial vehicles; Extended state observer; Prescribed-time tracking control; Prescribed performance control;

Prescribed-time extended state observer and prescribed performance control of quadrotor UAVs against actuator faults

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