Research On Fault-tolerant Control Of Quadrotor Aircraft

Four-rotor unmanned aerial vehicle has the characteristics of light weight,small volume,vertical take-off and landing,good maneuverability,and can perform a variety of tasks for a variety of narrow space.In recent years,four-rotor unmanned aerial vehicle(UAV)has received more and more attention,and has rapidly become a research hotspot in UAV field.In the future society,,UAV will play an increasingly important role in military and civilian areas.In this paper,the aerodynamic model of the four-rotor vehicle is established,and the fault-tolerant controller and the adaptive sliding-mode fault-tolerant controller are designed for the additive fault and multiplicative fault model of the four-rotor unmanned aerial vehicle Controller,and the use of fixed-point hover simulation experiment proved the effectiveness of inverse adaptive fault-tolerant control algorithm and adaptive sliding mode fault-tolerant controller robustness.The main contents of this paper are as follows:Firstly,the structure and flight principle of the four-rotor UAV are analyzed.The definition of the inertial coordinate system and the coordinate system of the fuselage are introduced.On this basis,the Newton's second law and the force and moment acting on the unmanned aerial vehicle are analyzed.At the same time,combined with Qball-X4 experimental platform and platform technical parameters,the final mathematical model of four-rotor unmanned aerial vehicle was deduced.Secondly,a backstepping adaptive fault-tolerant controller is designed for the fault of the four-rotor unmanned aerial vehicle(UAV)actuator.The simulation results show that the proposed method is effective.Considering the uncertain perturbation caused by the fault,the robustness analysis simulation experiment is carried out.It is observed that the additive fault tolerant control algorithm of this kind of actuator has weak anti-interference ability.Then,the multiplicative failure of four-rotor unmanned aerial vehicle(UAV)actuator is analyzed,and a backstepping adaptive fault-tolerant controller is designed to solve the multiplicative fault of the actuator.The effectiveness of the backstepping adaptive fault-tolerant control algorithm is verified by simulation experiment.Considering the uncertain perturbation caused by the fault,the robustness analysis simulation experiment is carried out.It is observed that the anti-jamming capability of this kind of multiplier fault-tolerant control algorithm is weak.Finally,in view of the additive fault and multiplicative fault of the four-rotor unmanned aerial vehicle(UAV),considering the uncertain disturbance caused by the fault,the adaptive sliding mode fault-tolerant controller is designed to improve the robustness of the four-rotor unmanned aerial vehicle(UAV)actuator,which is additive fault and multiplicative fault.The simulation results show that the proposed algorithm is effective.The results show that the adaptive sliding mode fault-tolerant control algorithm can improve the robustness of the system under the premise of guaranteeing the stability of the system.Finally,a robust fault-tolerant controller based on adaptive sliding-mode fault-tolerant controller is proposed.