Discrete-time fault-tolerant control for quadrotor UAV based on disturbance observer

被引：0
|
作者：
Shao S. [1 ,2 ]
Chen M. [1 ]
Zhao Q. [2 ]
机构：
[1] College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
[2] College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica | 2020年 / 41卷
关键词：
Backstepping control; Discrete-time control; Disturbance observers; Fault-tolerant control; Quadrotor UAV;
D O I：
10.7527/S1000-6893.2020.24283
中图分类号：
学科分类号：
摘要：
To facilitate the computer implementation of the flight control scheme, a discrete-time tracking control method is proposed based on a disturbance observer for the angular motion equation of quadrotor Unmanned Aerial Vehicle (UAV) with external disturbances and actuator faults. Adverse effects of external disturbances and actuator faults are restrained by designing a discrete-time disturbance observer. The designed disturbance observer is then used in the design of the discrete-time controller. Finally, the effectiveness of the proposed control approach is proven. Numerical simulation results show that the designed discrete-time controller can guarantee stable tracking errors of the quadrotor UAV under actuator faults and disturbances. © 2020, Beihang University Aerospace Knowledge Press. All right reserved.
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