Affiliation:
1. School of Optoelectronic Engineering, Changchun University of Science and Technology, Changchun 130022, China
2. Jilin Provincial Key Laboratory of Space Optoelectronics Technology, Changchun 130022, China
Abstract
This paper presents a study on a quadrotor unmanned aerial vehicle (UAV) fault-tolerant control scheme. According to the attitude model and safety control of the aircraft under the uncertainty of inertial matrix, the attitude state constraint by reinforcement learning is designed to ensure safety. Even if the boundary is crossed, it can be pulled back to the boundary by means of a designed penalty function with reinforcement learning. Meanwhile, in order to inhibit the oscillation caused by immediate reward as usual, an adaptive update law is proposed. Furthermore, considering the coupled actuator fault and system input saturation due to uncertainty of inertial matrix, the Nussbaum-type function is utilized in this work to handle this challenge, which likely causes the singularity of inertia matrix. As a consequence, combined with the Lyapunov stability theory, it is confirmed that the proposed FTC scheme ensures that all the closed-loop signals are bounded. Simulation results are carried out to illustrate the effectiveness and advantage of the proposed control scheme.
Funder
National Natural Science Foundation of China
Changchun Science and Technology Development Plan
Subject
Artificial Intelligence,Computer Science Applications,Aerospace Engineering,Information Systems,Control and Systems Engineering
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