Adaptive multi-variable quad-rotor unmanned aerial vehicle finite-time fault-tolerant control method
A four-rotor unmanned aerial vehicle, limited time technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the inconvenience of UAV controller, accurate acquisition, external interference and failure of UAV The boundary of the rate is difficult and other issues
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[0063] The purpose of the present invention is to propose an adaptive finite time fault-tolerant control method applied to a quadrotor UAV. Specifically, considering the urgent need for safe, stable and reliable flight in the complex flight environment of UAV, and considering the influence of rotor failure and unknown interference boundary, a finite-time fault-tolerant quadrotor UAV based on adaptive multivariate is proposed. Control method, which breaks through the shortcomings of traditional control algorithms and over-estimation adaptive fault-tolerant control, and proposes an adaptive finite-time fault-tolerant control method with non-over-estimation characteristics for the first time, which solves the problem of quadrotor UAVs in the event of rotor failure and unknown interference boundaries. The high-precision, fast and stable tracking control problem under the influence of high-precision, so as to achieve the purpose of comprehensively improving the control performance o...
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