Fault Tolerant Control of Quadrotor based on Parameter Estimation Techniques and Reconfigurable PID Controller

被引：0

作者：

He Xie ^{[1
]}

Chaudemar, Jean-Charles ^{[2
]}

Huang Jun ^{[1
]}

Defay, Francois ^{[2
]}

机构：

[1] Beihang Univ, Sch Aeronaut Sci & Engn, XueYuan Rd 37, Beijing 100191, Peoples R China

[2] Inst Super Aeronaut & Espace, F-31055 Toulouse 4, France

来源：

PROCEEDINGS OF THE 2015 JOINT INTERNATIONAL MECHANICAL, ELECTRONIC AND INFORMATION TECHNOLOGY CONFERENCE (JIMET 2015) | 2015年 / 10卷

关键词：

quadrotor; fault tolerant control; fault detection and diagnosis; parameter estimation; reconfigurable controller;

D O I：

暂无

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 focuses on the fault tolerant control of quadrotor. In this paper, the dynamic model of quadrotor and its measurements model will be given, and a PID controller will be designed based on the models. Then we propose an approach to detect and diagnose the fault of rotor with the help of parameter estimation techniques and adjust the controller to achieve better control results under fault. The proposed fault detection and diagnosis approach is designed for being insensitive to noise of measurements for reliability and robustness.

引用

页码：933 / 938

页数：6