Volume 36, Number 4, August 2018
|Page(s)||748 - 753|
|Published online||24 October 2018|
Study on Active Fault Tolerant Flight Control Systems for Quadrotor UAV with Actuator Failures
School of Automation, Northwestern Polytechnical University, Xi’an 710072, China
The rotor blades' fatigue fracture of Quadrotor UAV easily causes the instability or even crash of the UAV due to high-load and long-endurance flight missions. Under this circumstances, an active fault-tolerant flight controller of Quadrotor UAV based on integral sliding mode is proposed to strengthen the fault-tolerant capability of UAV's attitude and position. First of all, nonlinear mathematical model of quadrotor UAV with actuator failures is derived by kinematics and dynamics analysis. Secondly, a fault observer is constructed to determine when the actuator failure will occur, subsequently the UAV's attitude and position flight controllers are compensated using integral sliding mode control. The digital simulation and flight test shows that the controller has powerful fault-tolerant capacity and preferable dynamic and static characteristics which can stabilize the attitude and position responses of UAV when partial failure of single blade occurs.
Key words: controllers / design of experiments / fault tolerance / MATLAB / unmanned aerial vehicles(UAV)
关键字 : 四旋翼无人机 / 执行机构故障 / 滑模控制 / 容错控制
© 2018 Journal of Northwestern Polytechnical University. All rights reserved.
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