江西科学2025，Vol.43Issue(4)：668-673,6.DOI:10.13990/j.issn1001-3679.2025.04.013
传感器故障下四旋翼无人机轨迹跟踪控制方法
Trajectory Tracking Control Method for Quadrotor UAVs Under Sensor Fault Conditions
摘要
Abstract
In order to enhance the trajectory tracking control accuracy of quadrotor unmanned aerial vehicles(UAVs)under multi-sensor coupling failure conditions,this study develops a fault-tolerant control method based on the UAV dynamic model.The influence of sensor bias,drift,and failure on angular velocity sensors during flight operations is fully consid-ered,and a fault model for angular velocity sensors is constructed.On this basis,a fault-tolerant control law is proposed using an adaptive fuzzy control approach,which includes control laws for both attitude angle and angular velocity loops,enabling stable quadrotor control under sensor failure conditions.The simulation tests conducted in MATLAB/SIMU-LINK environment show that compared with the traditional Kalman filter algorithm,the proposed fault-tolerant control strategy significantly improves trajectory tracking accuracy.关键词
四旋翼无人机/传感器故障/自适应模糊控制/容错控制Key words
quadrotor UAV/sensor fault/adaptive fuzzy control/fault-tolerant control分类
信息技术与安全科学引用本文复制引用
周来宏,谭恩泽,谢富珍,习志军,金虹,孙鸿..传感器故障下四旋翼无人机轨迹跟踪控制方法[J].江西科学,2025,43(4):668-673,6.基金项目
江西省教育厅科技计划项目(GJJ212320) （GJJ212320）
新余市科技计划项目(21KJZD02) （21KJZD02）
新余学院技术服务项目(HX24091). （HX24091）
