计算机工程与应用2019，Vol.55Issue(24)：259-264,270,7.DOI:10.3778/j.issn.1002-8331.1810-0242
四旋翼无人机轨迹跟踪的容错控制
Fault-Tolerant Control of Track Tracking for Quadrotor UAV
摘要
Abstract
In order to solve the problem of fault-tolerant control of four-rotor UAV trajectory tracking, a fault-tolerant composite controller is proposed, which combines robust H∞ control and disturbance observer with fault estimator. Under the condition of external bounded disturbance and additive fault, the trajectory tracking of four-rotor UAV is realized. The nonlinear dynamic model of UAV is decoupled into independent loop position control system and the inner angle control system. The introduction of interval matrix is used to describe the system parameters. The disturbance observer and fault estimator are designed to estimate and compensate the disturbance and fault respectively. A compound controller includ-ing the H∞ controller and observers can not only better suppress disturbance but also ensure UAV a smooth flight under the existence fault. The effectiveness of this method is proved by simulations.关键词
四旋翼无人机/区间矩阵/轨迹跟踪/容错控制Key words
quadrotor UAV/interval matrix/track tracking/fault-tolerant control分类
信息技术与安全科学引用本文复制引用
陈国生,江磊,李涛..四旋翼无人机轨迹跟踪的容错控制[J].计算机工程与应用,2019,55(24):259-264,270,7.基金项目
江苏省杰出青年基金项目(No.BK20140045). （No.BK20140045）
