Discrete-time fault-tolerant control for quadrotor UAV based on disturbance observer

SHAO Shuyi; CHEN Mou; ZHAO Qijun

doi:10.7527/S1000-6893.2020.24283

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2020 , Vol. 41 >Issue S2: 724283 - 724283

DOI: https://doi.org/10.7527/S1000-6893.2020.24283

Discrete-time fault-tolerant control for quadrotor UAV based on disturbance observer

SHAO Shuyi ,
CHEN Mou ,
ZHAO Qijun

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1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;
2. College of Aerospace Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received date: 2020-05-10

Revised date: 2020-05-28

Online published: 2020-06-18

Supported by

Aeronautical Science Foundation of China (201957052001); Natural Science Foundation of Jiangsu Province for Young Scholars (SBK2020042328); Scientific Research Foundation for Nanjing University of Aeronautics and Astronautics (1003-YAH19073)

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Abstract

To facilitate the computer implementation of the flight control scheme, a discrete-time tracking control method is proposed based on a disturbance observer for the angular motion equation of quadrotor Unmanned Aerial Vehicle (UAV) with external disturbances and actuator faults. Adverse effects of external disturbances and actuator faults are restrained by designing a discrete-time disturbance observer. The designed disturbance observer is then used in the design of the discrete-time controller. Finally, the effectiveness of the proposed control approach is proven. Numerical simulation results show that the designed discrete-time controller can guarantee stable tracking errors of the quadrotor UAV under actuator faults and disturbances.

Key words： quadrotor UAV; disturbance observers; discrete-time control; fault-tolerant control; backstepping control

Cite this article

SHAO Shuyi , CHEN Mou , ZHAO Qijun . Discrete-time fault-tolerant control for quadrotor UAV based on disturbance observer[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2020 , 41(S2) : 724283 -724283 . DOI: 10.7527/S1000-6893.2020.24283

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