Robust fault diagnosis and fault-tolerant control for nonlinear quadrotor unmanned aerial vehicle system with unknown actuator faults

International Journal of Advanced Robotic Systems

article

Jinjin Guo¹  Juntong Qi¹  Chong Wu² 

[1] School of Electrical and Information Engineering, Tianjin University;Research and development center, Ltd.

关键词: Quadrotor UAV;    actuator faults;    hybrid observer;    fault diagnosis;    fault-tolerant control;   

DOI  :  10.1177/17298814211002734

学科分类：社会科学、人文和艺术（综合）

来源: InTech

【 摘 要 】

This article addresses the problem that quadrotor unmanned aerial vehicle (UAV) actuator faults, including smallamplitude bias faults and gain degradation, cannot be detected in time. A hybrid observer, which combines the fast convergence from adaptive observer and the strong robustness from sliding mode observer, is proposed to detect and estimate UAV actuator faults accurately with model uncertainties and disturbances. A nonlinear quadrotor UAV model with model uncertainties and disturbances is considered and a more precise unified expression for actuator faults that do not require knowing where the upper or lower bound is provided. The original system is decomposed into two subsystems by coordinate transformation to improve detection accuracy for small amplitude bias faults and avoid external influences. The hybrid observer is then designed to estimate subsystem states and faults with good stability by selecting a Lyapunov function. A fault-tolerant controller is obtained depending on fault estimation by compensating the normal controller (proportion integral differential [PID] controller). Several numerical simulations confirmed that unknown actuator faults can be accurately detected, estimated, and compensated for even under disturbance conditions.

【 授权许可】

CC BY