A Fault Estimation Method for Quadrotor UAV Based on Generalized Observer

Abstract

The invention discloses a quadrotor unmanned aerial vehicle fault estimation method based on a generalized observer, comprising the following steps: aiming at the quadrotor unmanned aerial vehicle dynamic system model, considering the sensor fault, establishing the quadrotor unmanned aerial vehicle attitude sensor fault model; The quadrotor attitude and sensor faults are augmented to obtain a new augmented system; for the obtained new augmented system, a generalized observer is designed to realize the simultaneous estimation of quadrotor UAV attitude and sensor faults; based on the generalized observation The error model of the attitude error model is obtained by using the controller and the augmented UAV attitude failure model; the error system of the attitude error model is regarded as a positive system, and the gain matrix of the observer is obtained by using the positive system theory, so as to realize the detection of the quadrotor UAV attitude and sensor failure. estimated at the same time. The present invention greatly simplifies the performance analysis of the system through the application of positive system theory, compared with the traditional H ∞ method, which greatly reduces the complexity of solving the observer gain matrix.

Description

technical field [0001] The invention belongs to the field of flight control, and in particular relates to a fault estimation method for a quadrotor UAV based on a generalized observer. Background technique [0002] With the rapid development of aviation technology, UAV consumption is booming, and the market prospect is huge, which has aroused a large number of domestic and foreign scholars' research interest in UAV technology. Due to its good maneuverability and strong environmental adaptability, UAVs have been widely used in both military and civilian fields. UAVs can be divided into two types: fixed-wing UAVs and rotary-wing UAVs according to the type of UAV wings and the power generated. Among them, the rotor UAV has received more and more attention because of its ability to achieve tasks such as vertical take-off and landing, hovering, and circling. At present, the UAVs used in the market are generally quadrotor UAVs. Compared with other UAVs, quadrotor UAVs are small ...

AI Technical Summary

Problems solved by technology

For general perturbed linear systems, the traditional H ∞ The method is widely used. The target observer gain matrix is ​​based on the solution of the linear matrix inequality. However, this method has a high complexity in solving the observer gain matrix and a complex performance analysis of the system, resulting in inaccurate estimation of fault information.

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