航空科学技术2025，Vol.36Issue(6)：78-87,10.DOI:10.19452/j.issn1007-5453.2025.06.009
未知外部扰动下基于等价输入干扰的四旋翼无人飞行器容错控制方法
Fault-tolerant Control for QUAV Based on Equivalet Input Disturbance under Unknown External Disturbances
摘要
Abstract
This paper applies the equivalent input disturbance(EID)approach in the control of a quadrotor unmanned aerial vehicle(QUAV)with influences of actuator faults and external disturbances.Since actuator faults can be considered as the matched disturbances in the control-input channel,this paper take it to be a part of the lumped disturbance and use the EID approach to solving it.And then the exact linearization method is used to compensate for nonlinearities in the QUAV system.Four PI controllers are used to accomplish tracking control.Combing the EID approach,the exact linearization,with the PI control,present the EID-based fault-tolerant control method.Next,stability conditions are derived based on the globally uniformly ultimately bounded.Finally,simulations demonstrate the effectiveness of the method.In practical operational environments,the fault-tolerant control strategy proposed in this paper demonstrates significant reference value and broad application prospects when confronting numerous uncertain factors.关键词
干扰抑制/等价输入干扰/容错控制/轨迹跟踪控制/四旋翼无人飞行器Key words
disturbance rejection/equivalent input disturbance/fault-tolerant control/periodic-trajectory tracking control/QUAV引用本文复制引用
蔡文静,高利鹏,于佳平,刘昕,倪杰..未知外部扰动下基于等价输入干扰的四旋翼无人飞行器容错控制方法[J].航空科学技术,2025,36(6):78-87,10.基金项目
航空科学基金(2023Z034053001) （2023Z034053001）
广东省基础与应用基础研究基金(2023A1515111175) Aeronautical Science Foundation of China(2023Z034053001) （2023A1515111175）
Guangdong Basic and Applied Bosic Research Foundation(2023A1515111175) （2023A1515111175）
