The invention discloses a multi-rotor unmanned aerial vehicle broken
propeller fault rapid diagnosis and fault-tolerant stable
control system and method, belongs to the technical field of unmanned aerial vehicle flight control, and aims to solve the problems that traditional broken
propeller detection is high in cost and unreliable,
power compensation robustness is insufficient and return flight logic is lacked. According to the
system and the method, on the basis of a high-order nonlinear observation theory, rapid and accurate identification of the abnormal state of the unmanned aerial vehicle power
system is realized by constructing a multi-
modal signal prediction and residual
evaluation system; the method effectively prevents the out-of-control, rolling and even
crash of the unmanned aerial vehicle caused by power
asymmetry, solves the problem that a traditional fixed control strategy is difficult to adapt to fault working conditions, and adapts to dynamic changes under complex working conditions such as hovering and cruising. Finally, closed-
loop control from fault detection to safe return can be realized, the autonomous safe return capability of the unmanned aerial vehicle under the condition of the fault of the propulsion
system is ensured, and the method is suitable for unmanned aerial vehicle application scenes with high reliability requirements, such as logistics transportation and inspection monitoring.