Fault Tolerate Control For Quadrotor Unmanned Aerial Vehicle Based On Backstepping Technique

Comparing with the general aircraft,quadrotor UAV(unmanned aerial vehicle)has the advantages of simple structure,flexible motion,low noise,vertical take-off and landing,as well as changing the flight posture in narrow space,so quadrotor UAV has a very wide range of uses,not only in military field,but also in civil areas such as forest fire protection,disaster relief protection,shooting film and television series,traffic guidance and so on.During the execution of the task,quadrotor UAV's rotors are easily affected by external environment and finally leading to malfunction.The main work of this paper is designing the corresponding algorithm to achieve the purpose of fault tolerant control when quadrotor UAV's actuator is faulty.First,according to the flight principle,coordinate System's conversion relationship,building quadrotor UAV's flight dynamics model,and then simplifying the model to solve the coupling problem;second,considering the quadrotor UAV go wrong,at the basis of the integral Backstepping control method,we can add adaptive penalty function to achieve the purpose of reducing the overshoot;third,when failure happens,in order to shorten the adjustment time,we can add adaptive control to the integral Backstepping control method to achieve the target of reducing fault detection;finally,considering the quadrotor UAV system has uncertainty,to achieve the purpose of tolerating the faults better and faster,we combine integral sliding mode control and adaptive Backstepping control to design a new control method,and for the chattering problem,we make some improvements.At the end,the controller we make not only achieve the target of tolerating the faults,but also has smaller overshoot and faster adjustment speed.In order to verify the rationality and effectiveness of the proposed algorithm,all algorithms are simulated by Simulink,the simulation results are also compared and analyzed respectively,The conclusion shows that: The algorithms proposed in this paper can achieve the purpose of fault tolerant control,they can guarantee quadrotor UAV's stable flight in the case of failure,and provide theoretical basis to quadrotor UAV's flight control in the real world.