Design Of Saturated Fault Tolerant Control System For Quad-rotor UAV Actuator Failure

As a type of micro-aircraft,quad-rotor drones have been recognized by more and more drone enthusiasts due to their excellent performance in terms of cost performance,performance,and operability,and have become the most popular drone in the field of micro-drones.With the continuous development of quad-rotor drones,they are widely used in all aspects of society and life.At the same time,the safety issues of quad-rotor drones have also caused widespread concern.Because the quad-rotor UAV system has the characteristics of non-linearity and strong coupling,and the UAV is very susceptible to interference from external environments such as airflow or other unknown objects during flight,it is necessary to design an effective control algorithm to ensure the stable and safe flight of the UAV.This paper mainly studies the fault-tolerant control of quad-rotor UAV under the saturation phenomenon of actuators,designs different control algorithms,and verifies them by simulation experiments.First of all,the Newton-Euler formula is used to model the dynamics of the quad-rotor UAV.Secondly,in response to the saturation of the quad-rotor UAV actuators,an adaptive fault-tolerant controller is designed and the controller parameters can be adjusted online to ensure that the quad-rotor UAV can still stably fly under the actuator failure,and this method has a larger area of attraction than the original fixed-gain controller.After considering the saturation of the quad-rotor UAV actuators and L₂ disturbance at the same time,an adaptive fault-tolerant controller based on the LMI method is designed,and an adaptive law is proposed to ensure the stability of the system in this state,and this method effectively improves the performance of the closed-loop system.Finally,a fuzzy PID controller design method is proposed for actuator saturation,and the fuzzy parameters are used to adaptively adjust PID parameters to achieve stable control of the system.The control algorithms of the quad-rotor UAV actuators proposed in this paper are all simulated in MATLAB.The simulation results verify its superiority and reliability.