Abstract
This paper presents a reliable active fault-tolerant tracking control (AFTTC) design method against actuator faults of a quadrotor unmanned aerial vehicle (VAV). The scheme consists of a baseline controller, a fault detection and diagnosis (FDD) estimator and an adaptive fault compensator. In the absence of actuator faults, a state feed-back controller acting as the normal controller is developed by utilizing linear quadratic regulator, so that the system stability and desired tracking performance are guaranteed. When the actuator fails to operate, an adaptive two-stage Kalman filter estimator is exploited for simultaneous state and fault estimation. Using the information from the FDD estimator, an adaptive fault compensator based on model reference adaptive control is designed automatically to mitigate the negative impacts of actuator faults. Simulation results show that the proposed AFTTC method enables the quadrotor UAV to track the desired refere-nce commands in the absence/presence of actuator faults.
Published Version
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