Quadrotor Flight Control System Tolerant to Sensor Failures

被引：0

作者：

Larin, Vladimir ^{[1
]}

Tunik, Anatol ^{[2
]}

机构：

[1] Natl Acad Sci, Inst Mech, Dept Stabil Proc, Kiev, Ukraine

[2] Natl Aviat Univ, Dept Aerosp Control Syst, Kiev, Ukraine

来源：

2020 IEEE 6TH INTERNATIONAL CONFERENCE ON METHODS AND SYSTEMS OF NAVIGATION AND MOTION CONTROL (MSNMC) | 2020年

关键词：

quadrotor; flight control; fault-tolerant system; sensor failure; extended observer; Sylvester equation; LQR method; stability margin;

D O I：

10.1109/msnmc50359.2020.9255549

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The fault-tolerant quadrotor flight control systems operating without reconfiguration in a case of the sensor failure is the powerful mean for increasing the quadrotor flight safety. In this paper, the procedure for design of such system is proposed. It is based on the application of the extended observer synthesis based on the matrix Sylvester equation along with standard LQR method augmented with special optimization procedure for increasing the stability margin of systems with and without reconfiguration. It was performed the simulation of the fault-tolerant flight control system with the mathematical model of the certain real quadrotor, which was developed and manufactured at the National Aviation University. A result of this simulation demonstrates the efficiency of the proposed design method and appropriate system dynamics in a case of the sensor failure.

引用

页码：64 / 68

页数：5

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