Observer-based quadrotor unmanned aerial vehicle fault-tolerant control method

Abstract

The invention relates to the quadrotor unmanned aerial vehicle fault-tolerant control, and aims to realize attitude stability under the condition of an actuator fault of a quadrotor unmanned aerial vehicle. The technical scheme adopted by the invention is that an observer-based quadrotor unmanned aerial vehicle fault-tolerant control method includes the following steps: first defining an inertia coordinate system {I}, a body coordinate system {B} and a target coordinate system {Bd}, and through analysis of an action principle of the actuator on the quadrotor unmanned aerial vehicle, an unknown diagonal matrix is utilized to represent influence of an actuator fault on kinetic characteristics of the quadrotor unmanned aerial vehicle, and a nonlinear kinetic model when a fault occurs in the quadrotor unmanned aerial vehicle actuator is obtained; a unit quaternion-based attitude representation method is adopted; and an observer technology based on an immersion-invariant set method is adopted to observe the actuator. The observer-based quadrotor unmanned aerial vehicle fault-tolerant control method provided by the invention is mainly applied to quadrotor unmanned aerial vehicle design and control occasions.

Description

technical field [0001] The invention relates to a fault-tolerant control problem of a quadrotor unmanned aerial vehicle. Aiming at the problem of attitude control when the actuator of quadrotor UAV fails, a nonlinear adaptive fault-tolerant control method based on immersed-invariant set observer technology is proposed. Background technique [0002] The four-rotor UAV relies on the rotation of four motors to drive the propeller to rotate to generate lift, and achieves pitch, roll, yaw and other actions by changing the speed of different motors. 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. In addition, during the flight of the aircraft, it will inevitably be affected by external disturbances (such as obstacle impact, rain, strong wind, strong airflow, etc.), and the aerodynamic characteristics of the aircraft itself will undergo strong chang...

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