Fault-Tolerant Tracking Control of Quadrotor Aircrafts with Actuator Faults and External Disturbances

被引：0

作者：

Ma, Renyue ^{[1
]}

Zhang, Ke ^{[1
]}

Jiang, Bin ^{[1
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 211106, Peoples R China

来源：

PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE | 2020年

关键词：

Fault-tolerant control; quadrotor aircraft; flight control; integral-type sliding mode control; ATTITUDE TRACKING;

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：

In this paper, a novel fault-tolerant flight controller is designed so that the quadrotor aircraft can track a desired trajectory in the presence of actuator faults and external disturbances. For the position subsystem, a robust control law based on integral-type sliding mode control (ITSMC) is designed to achieve the tracking objective. For the attitude subsystem, a fault tolerant attitude tracking control algorithm is proposed in this paper. Finally, the simulation result indicates the effectiveness of the proposed control algorithm.

引用

页码：4024 / 4029

页数：6

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