Fault-tolerant control for unmanned aerial vehicle with wing damaged
Fault-tolerant control for unmanned aerial vehicle with wing damaged
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DOI：
10.1109/iecon.2017.8216539
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发表时间：
2017-10
期刊：
影响因子：
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通讯作者：
Bai-Qing Fan;Xiao Zhang;Bo Tian;Lei Guo
中科院分区：
文献类型：
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作者：
Bai-Qing Fan;Xiao Zhang;Bo Tian;Lei Guo
无人机的飞行易受各种干扰和故障的影响。本文考虑了无人机机翼的小损伤问题。无人机的控制框架由力环和力矩环组成，分别采用基于非线性扰动观测器（NDO）的动态逆（DI）控制和基于扩张状态观测器（ESO）的动态逆控制对这两个环进行控制。将所需的力和力矩分配给无人机的舵机和推力矢量。所设计的控制律不仅能使无人机在故障情况下有效飞行，而且能满足无人机大机动飞行的要求。仿真结果验证了该方法的有效性。
The flight of unmanned aerial vehicle (UAV) is vulnerable to various disturbances and faults. In this paper, the small damage of the wing of an unmanned aerial vehicle is taken into consideration. The UAV control framework consists of force loop and torque loop, where the nonlinear disturbance observer (NDO) based dynamic inverse (DI) control and the extended state observer (ESO) based dynamic inverse control are employed respectively to control these two loops. The required force and moment are allocated to the steering gear and thrust vector of the UAV. The designed control law can not only make the UAV fly effectively in the presence of a fault, but also meet the demand of UAV for high maneuver flight. Finally, simulation results verify the effectiveness of the proposed method.