Geometric Attitude Fault-Tolerant Control of Quadrotor Unmanned Aerial Vehicles with Adaptive Extended State Observers

Author:

Wang Liping1,Pei Hailong1ORCID,Cheng Zihuan1ORCID

Affiliation:

1. Key Laboratory of Autonomous Systems and Networked Control, Ministry of Education, Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle Systems, South China University of Technology, Guangzhou 510640, China

Abstract

This paper is concerned with the attitude tracking problem of quadrotor unmanned aerial vehicles (UAVs) with respect to endogenous uncertainties, exogenous disturbances and actuator failures. Two different control methods are proposed to solve this problem. First, an adaptive extended state observer (AESO)-based control framework is devised to tackle the difficulties caused by model uncertainties and external disturbances. A fault-tolerant control method is proposed to cope with the occurrence of actuator failure, which is modeled as a constant loss of effectiveness. Another method employs AESOs to compensate for lumped disturbances, which include endogenous uncertainties, exogenous disturbances and actuator failures. Then, the error can exponentially converge to a bounded set. Finally, simulations are performed to ensure the feasibility of the designed technique.

Funder

NSFC

Fundamental Research Funds for the Central Universities

National Key R&D Program of China

Aeronautical Science Foundation

China University Innovation Fund

Publisher

MDPI AG

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