Quadrotor Fault-Tolerant Control at High Speed: A Model-Based Extended State Observer for Mismatched Disturbance Rejection Approach

被引：1

作者：

Chen, Jinfeng ^{[1
]}

Zhang, Fan ^{[1
,2
]}

Hu, Bin ^{[1
]}

Lin, Qin ^{[1
,2
]}

机构：

[1] Univ Houston, Dept Engn Technol, Houston, TX 77004 USA

[2] Univ Houston, Dept Elect & Comp Engn, Houston, TX 77004 USA

来源：

IEEE CONTROL SYSTEMS LETTERS | 2024年 / 8卷

基金：

美国国家科学基金会;

关键词：

Quadrotors; Vectors; Rotors; Attitude control; Aerodynamics; Fault tolerant systems; Fault tolerance; Uncertainty; Observers; Symbols; Fault-tolerant control; flight control; extended state observer; mismatched disturbance rejection;

D O I：

10.1109/LCSYS.2024.3519033

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Fault-tolerant control of a quadrotor in extreme conditions, such as rotor failure and strong winds, is exceptionally challenging due to its underactuated nature, strong mismatched disturbances, and highly nonlinear multi-input and multi-output properties. This letter proposes a reduced attitude control approach that combines a model-based extended state observer (MB-ESO) and mismatched disturbance decoupling to control a quadrotor under strong winds and complete loss of two opposing rotors. Our MB-ESO based control provides a new theoretical framework for more general nonlinear systems by utilizing all measurable outputs, thereby maximizing the use of all available information to design a robust controller. Testing in a high-fidelity simulator shows that our approach outperforms the state-of-the-art Incremental Nonlinear Dynamic Inversion method.

引用

页码：2895 / 2900

页数：6

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