Adaptive fault tolerant control of quadcopter by using minimum projection method
Adaptive fault tolerant control of quadcopter by using minimum projection method
复制标题
最小投影法四轴飞行器自适应容错控制
DOI：
10.1109/iecon.2018.8591587
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Kiyotaka Kato
中科院分区：
文献类型：
--
作者：
Anan Tabata;Yasuyuki Satoh;Hisakazu Nakamura;Kiyotaka Kato
为了实现四轴飞行器在实际环境中的稳定飞行，考虑执行器故障是一个重要的问题。针对具有执行器故障的四轴飞行器，提出了一种全局渐近稳定的自适应控制器。为了全局稳定四轴飞行器的姿态和高度，首先利用最小投影法设计了稳定状态反馈控制器。然后，我们扩展的控制器的自适应控制器的执行器故障模型的基础上，其中包含未知的螺旋桨的气动常数。最后，仿真结果证明了所提出的方法的有效性。
To achieve stable flight of quadcopters in actual environment, considering actuator faults is an important issue. In this paper, we propose a globally asymptotically stabilizing adaptive controller for a quadcopter with actuator faults. To stabilize attitude and altitude of quadcopter globally, we first design the stabilizing state feedback controller by using the minimum projection method. Then, we extend the controller for an adaptive controller based on an actuator fault model, which contains unknown propeller's aerodynamic constants. Finally, simulation results are provided to demonstrate the effectiveness of the proposed method.