Abstract
The rotor blades' fatigue fracture of Quadrotor UAV easily causes the instability or even crash of the UAV due to high-load and long-endurance flight missions. Under this circumstances, an active fault-tolerant flight controller of Quadrotor UAV based on integral sliding mode is proposed to strengthen the fault-tolerant capability of UAV's attitude and position. First of all, nonlinear mathematical model of quadrotor UAV with actuator failures is derived by kinematics and dynamics analysis. Secondly, a fault observer is constructed to determine when the actuator failure will occur, subsequently the UAV's attitude and position flight controllers are compensated using integral sliding mode control. The digital simulation and flight test shows that the controller has powerful fault-tolerant capacity and preferable dynamic and static characteristics which can stabilize the attitude and position responses of UAV when partial failure of single blade occurs.
Highlights
sliding mode is proposed to strengthen the fault⁃tolerant capability of UAV's attitude and position
First of all, nonlinear mathematical model of quadrotor UAV with actuator failures is derived by kinematics and dynamics analysis
The digital simulation and flight test shows that the controller has powerful fault⁃tolerant ca⁃ pacity
Summary
线性数学模型为[9] : ìïx = uz( cosφsinθcosψ + sinφsinψ) ïïz = uz( cosφcosθ) - g íïφ = θψ ( Jy - Jz) / Jx + uφl + θ ΩJr / Jx (1) Ïïθ = φψ ( Jz - Jx ) / Jy + uθl - φ ΩJr / Jy îïïψ = θφ ( Jx - Jy ) / Jz + cuψ 统矩阵和输入矩阵;ki 为故障旋翼执行效率损失折 合到控制输入通道的损失系数,且 0 ≤ ki ≤ 1(当 ki = 0 时,表明无效率损失;当 ki = 1 时,表明全部损失; 当 0 < ki < 1 时表明有部分损失) ;fdi = Bkiui = Bufi(i = z,φ,θ,ψ),ufi 表示执行机构桨叶半径损失 间接引起的通道控制输入损失项,值越大表明执行
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