Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors
Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors
复制标题
两个相对转子完全丢失的四旋翼飞行器的增量非线性容错控制
DOI：
10.1109/tro.2020.3010626
复制
发表时间：
2020
影响因子：
7.8
通讯作者：
C. C. Visser
中科院分区：
文献类型：
--
作者：
Sihao Sun;Xuerui Wang;Q. Chu;C. C. Visser
为了进一步扩展四旋翼飞行器在执行器故障情况下的飞行包线，设计了一种基于传感器的非线性容错控制器，用于在高速飞行条件下（>8 m/s）稳定两个相对转子故障的四旋翼飞行器。采用增量式非线性动态逆方法补偿气动效应。这种欠驱动系统的内部动力学进行了分析，并随后通过重新定义控制输出稳定。所提出的方法可以推广到控制单转子故障和标称条件下的四旋翼。为了验证，在大型开放式喷气风洞中进行了飞行试验。在存在显著的风扰动的情况下，可以控制损坏的四旋翼的位置。一个线性二次型调节器的方法，从文献中进行了比较，以证明所提出的非线性方法的优势，在有风和高速飞行条件。
In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight condition (>8 m/s). The incremental nonlinear dynamic inversion approach which excels in handling model uncertainties is adopted to compensate for the significant unknown aerodynamic effects. The internal dynamics of such an underactuated system have been analyzed, and subsequently stabilized by redefining the control output. The proposed method can be generalized to control a quadrotor under single-rotor-failure and nominal conditions. For validation, flight tests have been carried out in a large-scale open jet wind tunnel. The position of a damaged quadrotor can be controlled in the presence of significant wind disturbances. A linear quadratic regulator approach from the literature has been compared to demonstrate the advantages of the proposed nonlinear method in the windy and high-speed flight condition.