一种基于非线性模型预测控制的升力翼多旋翼容错方法
By introducing fault-tolerant control methods such as NMPC and EKF, the stability problem of lifting multi-rotor aircraft under rotor failure was solved, achieving efficient attitude control and fault recovery in complex environments, and improving the stability and reliability of the aircraft.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIHANG UNIV
- Filing Date
- 2025-01-20
- Publication Date
- 2026-07-17
AI Technical Summary
Traditional multi-rotor aircraft control technology cannot effectively cope with highly nonlinear dynamic changes. Especially when some rotors fail, the aircraft's attitude and trajectory are difficult to maintain, affecting flight stability and mission performance.
A fault-tolerant control method based on nonlinear model predictive control (NMPC) and disturbance observation technology using extended Kalman filter (EKF) were adopted to design a dynamic model and a relaxed hovering solution for a lifting wing multirotor aircraft. By optimizing the control strategy, stability was maintained under rotor failure and complex aerodynamic conditions.
It improves the flight stability and control precision of lifting wing multi-rotor aircraft in complex environments, enables rapid recovery of attitude stability, and enhances the robustness and reliability of the system.
Smart Images
Figure CN120044788B_ABST