Tolerant control method for partial failure of four-rotor unmanned aerial vehicle actuator
A quad-rotor UAV, partially failed technology, applied in the direction of adaptive control, general control system, control/regulation system, etc. high frequency problem
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[0053] The technical solution adopted in the present invention is: the adaptive control and the sliding mode control algorithm are combined in the control of the attitude system when the actuator part of the quadrotor unmanned aerial vehicle fails, including the following steps:
[0054] By analyzing the action principle of the actuator on the quadrotor UAV, using the unknown diagonal matrix to represent the influence of the actuator failure on its dynamic characteristics, and considering the interference of the external unknown disturbance moment, the partial failure of the quadrotor UAV actuator is obtained The nonlinear dynamic model when :
[0055] M ( η ) η ·· + C ( η , η · ) η · + τ d ...
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