In this paper, a fault accommodation scheme is proposed for a quadrotor attitude dynamics that has composite disturbance and actuator fault. The attitude model and the attitude model with composite disturbance of the quadrotor are described, and an actuator loss-of-effectiveness failure model presented. An
algorithm for composite disturbance estimation and a local fault diagnosis and identification (FDI) algorithm are proposed for composite disturbance and for actuator loss-of-effectiveness failures of the quadrotor system respectively. The composite disturbance estimator is driven by the disturbance estimation error rather than directly related to the state tracking or prediction errors. The local actuator FDI structure is similar to the model reference adaptive control for actuator model. A backstepping fault tolerant control (FTC) based on composite disturbance estimate and local FDI is designed for the quadrotor. Simulation results show effectiveness of the proposed FTC scheme.
YANG Cheng-shun1, YANG Zhong1, HUANG Xiao-ning2, XU De-zhi 1
. Distributed Fault-Tolerant Control for Quadrotor[J]. Journal of Applied Sciences, 2013
, 31(3)
: 321
-330
.
DOI: 10.3969/j.issn.0255-8297.2013.03.016
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