Attitude robust adaptive fault-tolerant control method for unmanned aerial vehicle steering engine fault

Abstract

The invention provides an attitude robust adaptive fault-tolerant control method for an unmanned aerial vehicle steering engine fault. The method comprises the following steps: observing a fault according to a current motor lift vector F, a current attitude angular velocity omega, a fault estimation value and a pre-designed sliding mode adaptive observer, determining and updating an attitude angular velocity estimation value, and calculating and updating an attitude angular velocity estimation error e omega according to the attitude angular velocity estimation value and the current attitude angular velocity omega; determining an attitude error quaternion eq according to the current attitude quaternion q and the target attitude quaternion qd; calculating a motor lift vector F according to apre-designed fault-tolerant controller so as to control and adjust the attitude of the unmanned aerial vehicle according to the motor lift vector; and estimating the error e omega and the attitude error quaternion eq according to the current motor lift vector F and the attitude angular velocity, and estimating and updating the fault estimation value according to the fault estimation value and theadaptive law. With application of the technical scheme, the influence of the unmanned aerial vehicle fault can be effectively overcome, the attitude stability is maintained, the calculation amount isgreatly reduced and the control efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicle control, in particular to an attitude robust adaptive fault-tolerant control method for the failure of the unmanned aerial vehicle steering gear. Background technique [0002] In recent years, multi-rotor drones have been more and more widely used in military and civilian fields such as high-altitude photography, post-disaster rescue, and environmental monitoring. Unlike traditional quad-rotor UAVs and hexacopter UAVs, tri-rotor UAVs usually consist of three motors and one steering gear, with simpler structure, lower cost, less energy consumption, and greater mobility. The three-rotor drone relies on the rotation of the three motors and the deflection of the steering gear to achieve actions such as pitch, roll, and yaw. Due to the influence of the flight stability of the drone and its own technology, the steering gear is prone to blockage failures. The flight performance of the ma...

AI Technical Summary

Problems solved by technology

The three-rotor UAV relies on the rotation of three motors and the deflection of the steering gear to achieve actions such as pitch, roll, and yaw. Due to the influence of the flight stability of the drone and its own technology, the steering gear is prone to blockage failures. Seriously affect the flight performance of man-machine

[0003] At present, many research institutions at home and abroad have begun to devote themselves to the research of dynamic modeling and flight control of three-rotor UAVs, but there is no relevant literature on the research of flight control when the steering gear is blocked.

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