Tolerant control method for partial failure of four-rotor unmanned aerial vehicle actuator

Abstract

The invention relates to a four-rotor unmanned aerial vehicle tolerant control method, and provides a tolerant controller. When an actuator is partially failed, a four-rotor unmanned aerial vehicle is still stable. According to the technical scheme provided by the invention, a tolerant control method for partial failure of the four-rotor unmanned aerial vehicle actuator comprises the steps that the principle of the action of the actuator on the four-rotor unmanned aerial vehicle is analyzed; an unknown diagonal matrix is used to represent the influence of the failed actuator on the dynamics characteristic; by taking into account the disturbance of external unknown disturbance torque, a nonlinear dynamics model of the partially failed four-rotor unmanned aerial vehicle actuator is acquired; and an analysis method based on Lyapunov is used to prove that the whole closed-loop system shown by a formula (12) is asymptotically stable, namely when time tends to be infinite, an attitude angle eta tends to a target attitude angle eta d. The method provided by the invention is mainly used for four-rotor unmanned aerial vehicle tolerant control.

Description

technical field [0001] The invention relates to a fault-tolerant control method for a quadrotor UAV, in particular to a fault-tolerant control method for a partial failure of an actuator of the quadrotor UAV. Background technique [0002] Quadrotor drones are more and more widely used in aerial photography, post-disaster rescue, agriculture and forestry planting due to their small size, flexible action, vertical take-off and landing, and fixed-point hovering. Affected by the control stability of the aircraft and its own technology, the continuous high-speed rotation of the motor and propeller greatly increases the probability of failure. Since the quadrotor UAV is a typical nonlinear system with strong coupling characteristics, once the above faults occur, the flight stability will drop sharply, and even cause the UAV to lose control. How to ensure that the quadrotor UAV can still be effectively controlled when the actuator fails has important theoretical significance and a...

AI Technical Summary

Problems solved by technology

[0003] Common failures of quadrotor UAVs usually include actuator failures and sensor failures. Among them, actuator failures occur more frequently, have a greater impact on the performance of quadrotor UAVs, and are more difficult to solve

However, when modeling actuator faults in this method, the actuator fault is simply added to the quadrotor UAV dynamics model in the form of an external disturbance force, which is difficult to reflect the real impact of the actuator fault on the UAV.

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