The invention relates to an
estimation and self-healing control method for a blade injury of a multi-rotor unmanned aerial vehicle
autopilot. The
estimation and self-healing control method comprises the steps of: firstly, calculating a moment acted on a
machine body by an instruction output by an
autopilot control system under a non-fault condition and a
mathematical model between a force and moment which are acted on the
machine body; then constructing a
machine body
attitude control system state equation, and estimating a moment disturbance variable generated for the machine body after the blade injury by adopting a
time domain disturbance observer; then inverting and resolving a parameter estimated value of a blade
injury model according to an inverse model of the blade injury
mathematical model; and finally, according to the parameter estimated value of the blade
injury model, designing a control distribution reconstruction matrix to implement control distribution reconstruction ofthe
autopilot. Compared with the prior art, the
estimation and self-healing control method for the blade injury of the multi-rotor unmanned aerial vehicle autopilot, which is disclosed by the invention, has the following advantages that a blade injury degree can be estimated online; and by reconstructing a control object
mathematical model online, control self-healing of the multi-rotor unmannedaerial vehicle autopilot under the blade injury is implemented, so as to ensure safe and stable flight of an unmanned aerial vehicle under the blade injury condition.