Fault Tolerant Control and Simulation of Quadrotor Based on Adaptive Observer

doi:10.16182/j.issn1004731x.joss.20-0634

Abstract

Abstract: Focusing on the actuator fault of quadrotor, an integral backstepping sliding mode combined with adaptive observer is proposed to ensure the safety and reliability of the quadrotor. A dynamic model of the quadrotor with actuator fault are established. An adaptive observer is proposed to observe the state and estimate the actual value of the fault. The attitude fault tolerant controller and position controllers are designed by the method of integral backstepping combined with the sliding mode control to complete the trajectory tracking of attitude and position. The simulation results show that the control strategy can quickly and accurately track the desired signals during actuator fault.

Key words: quadrotor, actuator fault, adaptive observer, fault tolerant control, integral backstepping, sliding mode control

CLC Number:

TP391
V279

Zhao Jing, Wang Peng, Ding Xiaoqian, Jiang Guoping, Xu Fengyu, Sun Yanfei. Fault Tolerant Control and Simulation of Quadrotor Based on Adaptive Observer[J]. Journal of System Simulation, 2022, 34(1): 1-10.

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