Self-adaptation fault-tolerant control method of quadrotor posture with parameter nondeterminacy

A technology of parameter uncertainty, fault-tolerant control, applied in general control systems, control/regulation systems, instruments, etc.

Inactive Publication Date: 2014-08-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
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Problems solved by technology

[0004] In the existing adaptive fault-tolerant control methods, most of them only study the problem of external disturbance compensation control of quadrotor helicopters with parameter uncertainties. Fault Tolerance Control of Quadrotor Helicopter

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  • Self-adaptation fault-tolerant control method of quadrotor posture with parameter nondeterminacy
  • Self-adaptation fault-tolerant control method of quadrotor posture with parameter nondeterminacy
  • Self-adaptation fault-tolerant control method of quadrotor posture with parameter nondeterminacy

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Embodiment Construction

[0060] Below in conjunction with accompanying drawing, the present invention is described in further detail.

[0061] The present invention designs a four-rotor attitude adaptive fault-tolerant control method with parameter uncertainty, the control block diagram is as follows figure 1 As shown, the specific steps are as follows:

[0062] Step 1. Model the quadrotor helicopter attitude control system based on the following assumptions:

[0063] (1) The quadrotor helicopter is a completely uniform and symmetrical rigid structure;

[0064] (2) There is a linear function relationship between the input voltage and output torque of the DC motor;

[0065] (3) The center of mass O of the quadrotor helicopter coincides completely with the origin O of the body coordinate system;

[0066] (4) The ground coordinate system is an inertial coordinate system, without considering the influence of factors such as the curvature of the earth and the acceleration of gravity changing with height...

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Abstract

The invention relates to a self-adaptation fault-tolerant control method of a quadrotor posture with parameter nondeterminacy, and belongs to the technical field of quadrotor helicopter posture control system fault-tolerant control. The thought of model reference self-adaptation control is applied, the feedback of states and errors of the states is introduced, and the direct self-adaptation fault-tolerant control method is designed. According to the method, compensation for the parameter nondeterminacy, external disturbance and actuator partial loss faults of a quadrotor helicopter system is achieved, and bounded tracking on the reference system state of the posture angle of a quadrotor helicopter is guaranteed.

Description

technical field [0001] The invention relates to a quadrotor attitude self-adaptive fault-tolerant control method with parameter uncertainty, and belongs to the technical field of fault-tolerant control of quadrotor helicopter attitude control systems. Background technique [0002] Due to the non-linear, multi-variable and highly coupled characteristics of quadrotor helicopters, it is sensitive to the influence of various physical factors such as its own gravity and gyro effect during flight, so it is difficult to obtain accurate aerodynamic performance parameters, so as to establish accurate and effective Dynamics model of quadrotor helicopter. The quadrotor helicopter attitude control system is an important part to ensure the normal operation of the helicopter, and plays a very critical role in the flight performance and safety of the helicopter. However, since the helicopter flight control system has many components and is sensitive to external environmental disturbances ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
Inventor 陈复扬王正姜斌路飞飞
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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