Algorithm Of Fault Tolerant Control For Quadrotor UAV

Quadrotor UAV has simple structure and low manufacturing costs, and can be applied to a variety of complex environments to complete complex tasks in the field of military and civilian areas, such as ground battlefield reconnaissance and surveillance, environmental monitoring, geological exploration. Therefore, it is now quadrotor UAV for more depth study. In the process of designing the control system, we must take into account the system’s fault tolerance, which can guarantee the stability of the system during operation. The main purpose of this paper is to design a passive fault tolerant control system, making the quadrotor UAV system in some loss of actuator failure occur, it can also be to ensure system stability. The main research work can be summarized as follows:(1) Quadrotor UAV flight principle is described, from the overall analysis on the system, using Newton’s laws of motion and Euler dynamics equations derived a mathematical model of quadrotor UAV, got the space position equation and three attitude angle equations.(2) The stuy about the system with the uncertainty. Firstly, the mathematical model derived simplified linearized model. Secondly, according to the Lyapunov method devised height control law and control laws of three Euler angles, and build height controller and the three Euler angles controller model in the Simulink environment. Finally, adjust the controller gains, respectively, the normal system and uncertainty system simulation. The best of a set of control controller gain will be gotten according to experimental data and the results of data analysis, and the uncertainty of the system makes it possible to guarantee the stability of the system.(3) Design of a passive fault tolerant control system based on Lyapunov stability of quadrotor UAV, and build a passive fault tolerant control system based on Simulink models. By selecting this form of matrix multiplication, the actuator means for the occurrence of various fault conditions. And then design the fault handling part to process fault, which allows the system to run stable. Finally, the simulation results on the stability of the passive fault tolerant control system designed is validated, experimental results show the feasibility of passive fault tolerant control system and ensure the stability of the system.(4) Semi physical simulation experiment, the designed height controller based on Lyapunov do some semi physical simulation experiments, Qball-X4 simulation platform were developed by the Quanser company of Canada. Experimental results and experimental data were analyzed to verify the height controller based on Lyapunov method can make Qball-X4 control system has a certain ability to fault tolerant, and ensure a certain stability.