Fault-tolerant control for unmanned aerial vehicle with wing damaged

Abstract

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.