Modeling and Its Adaptive Fault-tolerant Control for UAV Two-axis Pan-title

Abstract

According to the kinematics and dynamics characteristic of UAV Two-axis Pan-title, the dynamic equations of two-axis platform was erected up, and moreover by predigesting and linearizing the model in the balance point, the math model was gained which could be the same with Fault-tolerant controller design. Applying the adaptive fault-tolerant control method which was real time estimation of actuator faults; the adaptive fault-tolerant controller parameters are updating automatically to compensate the fault effects on systems. The disturbance tolerance ability of the adaptive controller is better than the fixed gain controller’s, especially in the actuator saturation and actuator failures. The proposed algorithm was obtained in the form of linear matrix inequalities, and calculating and simulating used the aid of MATLAB LMI Control Toolbox. The results show that the disturbance tolerance ability of this controller is strong, and meeting the needs of stability and security control on UAV two-axis pan-title airborne system. KeywordsTwo-axis Pan-title ; Modeling ; linear matrix inequalities ; adaptive control; saturation and failures;