This paper proposes a fast adaptive fault estimator-based active fault-tolerant control strategy for a quadrotor UAV against multiple actuator faults.A fast adaptive fault estimation algorithm is designed to estimate ...This paper proposes a fast adaptive fault estimator-based active fault-tolerant control strategy for a quadrotor UAV against multiple actuator faults.A fast adaptive fault estimation algorithm is designed to estimate the unknown actuator fault parameters.By synthesizing the fast adaptive fault estimator with the embedded control law,an active fault-tolerant control mechanism is established to compensate the adverse e®ects of multiple actuator faults.The e®ectiveness of the proposed strategy is validated through both numerical simulations and experimental tests.展开更多
基金National Key Research and Development Program of China(Grant No.2020YFA0711200)National Natural Science Foundation of China(Grant Nos.61833013 and 61973012)+2 种基金Defense Industrial Technology Development Program(Grant No.JCKY2020601C016)Key Research and Development Program of Zhejiang(Grant No.2021C03158)Science and Technology Key Innovative Project of Hangzhou(Grant No.20182014B06).
文摘This paper proposes a fast adaptive fault estimator-based active fault-tolerant control strategy for a quadrotor UAV against multiple actuator faults.A fast adaptive fault estimation algorithm is designed to estimate the unknown actuator fault parameters.By synthesizing the fast adaptive fault estimator with the embedded control law,an active fault-tolerant control mechanism is established to compensate the adverse e®ects of multiple actuator faults.The e®ectiveness of the proposed strategy is validated through both numerical simulations and experimental tests.
