Robust adaptive fault estimation and fault tolerant control for quadrotor attitude systems

被引：52
|
作者：
Nian, Xiaohong [1 ]
Chen, Weiqiang [1 ]
Chu, Xiaoyan [1 ]
Xu, Zhiwei [1 ]
机构：
[1] Cent South Univ, Sch Informat Sci & Engn, Changsha, Hunan, Peoples R China
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2020年 / 93卷 / 03期
基金：
美国国家科学基金会;
关键词：
Quadrotor UAV; adaptive fault estimation; fault tolerant control; LMI; LINEAR-SYSTEMS; OBSERVER; DESIGN;
D O I：
10.1080/00207179.2018.1484573
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the problem of fault estimation and fault tolerant control for quadrotor unmanned aerial vehicle. Firstly, a robust adaptive fault estimation observer (AFEO) is proposed to achieve fault estimation of quadrotor with actuator fault in the presence of external disturbances and parameter uncertainties. Furthermore, based on the estimation of fault, a dynamic output feedback fault tolerant controller (DOFFTC) is designed to stabilise the closed-loop system with faults and uncertainties. Sufficient conditions for the existence of both AFEO and DOFFTC are given in terms of linear matrix inequalities. Finally, simulation results are presented to illustrate the effectiveness of the proposed strategy.
引用
收藏
页码：725 / 737
页数：13
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