Robust fault-tolerant control for quadrotor UAVs with parameter uncertainties and actuator faults  

作　　者：Hao Liu Yuying Guo Youmin Zhang Bin Jiang 

机构地区：[1]School of Information Engineering,Southwest University of Science and Technology,Mianyang,621010,Sichuan,China [2]Department of Mechanical,Industrial and Aerospace Engineering,Concordia University,Montreal,Quebec,H3G 1M8,Canada [3]College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,211106,Jiangsu,China

出　　处：《Control Theory and Technology》2024年第4期581-595,共15页控制理论与技术（英文版）

基　　金：supported by the Innovation Fund of Key Laboratory of High-Altitude Simulating Technology,AECC Sichuan Turbine Research Institute(18zd9101).

摘　　要：In this paper,a novel robust composite sliding mode controller(RCSMC)is proposed to accommodate actuator faults for a quadrotor UAV subject to unknown disturbances.The closed-loop system is divided into two parts:the nominal system without disturbances which is controlled by the designed baseline controller,and the equivalent total disturbances including parameter uncertainties and actuator faults,which is estimated by the developed adaptive finite-time extended state observer(AFTESO).The estimated total disturbances are rejected by RCSMC and the asymptotic stability of flight control system is guaranteed.The proposed method is verified through numerical simulations.

关 键 词：Actuator fault Model uncertainty Adaptive finite-time extended state observer(AFTESO) Fault-tolerant control Robust control Quadrotor UAV 

分 类 号：V279[航空宇航科学与技术—飞行器设计]