| The quadrotor unmanned aerial vehicle(UAV)has small volume,light weight,simple mechanical structure and low requirements for the working environment.It can play a role in many fields.The development of the quadrotor unmanned aerial vehicle(UAV)technology is also the focus of the present time.The dynamic characteristics of the quadrotor unmanned aerial vehicle are more complex.Under normal work,many sensors and actuators need to cooperate with each other.These complex characteristics make it easy to fail and cause serious potential risks of life and property.To improve the safety and reliability of the four rotor UAV,fault diagnosis and fault-tolerant control are particularly important.In this paper,the actuator failure of four rotor UAV is studied.It is expected that the fault signal can be estimated and damaged by the separation and reconstruction of actuator faults.The estimated fault signal is used to make fault-tolerant control for quadrotor UAV under actuator fault,and achieve certain control index.The main contents of this paper are as follows:(1)Establish the conversion relationship between the body coordinate system and the inertial coordinate system.By constructing the rigid body model of UAV,the dynamic equation model of the four rotor UAV is derived.A common failure model of actuator for four rotor UAV is presented.(2)A LMI based four rotor unmanned aerial vehicle sliding mode controller is proposed to solve the basic control problem of the attitude and position of the unmanned aerial vehicle under the condition of no actuator failure.(3)A sliding mode observer is designed to detect the fault state of the four rotor UAV and reconstruct the observed fault signal under actuator failure.(4)Based on the fault signal estimation information of the sliding mode observer,the fault reconstruction method of state feedback is adopted to design the active fault tolerant control method of the four rotor unmanned aerial vehicle(UAV)for the actuator fault. |
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