A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this paper.Firstly, a dynamical system of the quad...A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this paper.Firstly, a dynamical system of the quadrotor taking into account aerodynamical effects induced by lateral wind and actuator faults is considered using the Newton-Euler approach. Then,based on active disturbance rejection control(ADRC), the fault tolerant controller is proposed to recover faulty system and reject perturbations. The developed controller takes wind gusts,actuator faults and measurement noises as total perturbations which are estimated by improved extended state observer(ESO)and compensated by nonlinear feedback control law. So, the developed robust fault tolerant controller can successfully accomplish the tracking of the desired output values. Finally, some simulation studies are given to illustrate the effectiveness of fault recovery of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts and measurement noises.展开更多
To improve the accuracy of the Ultra-Wide Band(UWB)based quadrotor aircraft localization,a Finite Impulse Response(FIR)flter aided with an integration of the predictive model and Extreme Learning Machine(ELM)is propos...To improve the accuracy of the Ultra-Wide Band(UWB)based quadrotor aircraft localization,a Finite Impulse Response(FIR)flter aided with an integration of the predictive model and Extreme Learning Machine(ELM)is proposed in this work.The FIR flter estimates the quad-rotor aircraft’s position by fusing the positions measured with the UWB and Inertial Navigation System respectively.When the UWB dada are unavailable,both the ELM and the predictive model are used to provide the measurements,replacing those unavailable UWB data,for the FIR flter.The ELM estimates the measurement via the mapping between the one step prediction of state vector and the measurement built when the UWB data are available.For the predictive model,we mathematically describe the missing UWB data.Then,both the measurements estimated with the ELM and predictive model are employed to estimate the observations via Mahalanobis distance.The test results show that the FIR flter aided by the predictive model/ELM integrated can reduce the Cumulative Distribution Function and position Root Mean Square Error efectively when the UWB is unavailable.Compared with the ELM assisted FIR flter,the proposed FIR flter can reduce the localization error by about 48.59%,meanwhile,the integrated method is close to the method with a better solution.展开更多
针对大型灾害现场中难以获取现场信息的问题,设计一种基于STM32的小型四旋翼飞行器。该飞行器获取自身的位姿信息后使用比列-积分-微分(Proportion Integral Differential,PID)算法调节飞行姿态,使用OpenMV4实现无线图像传输功能。测试...针对大型灾害现场中难以获取现场信息的问题,设计一种基于STM32的小型四旋翼飞行器。该飞行器获取自身的位姿信息后使用比列-积分-微分(Proportion Integral Differential,PID)算法调节飞行姿态,使用OpenMV4实现无线图像传输功能。测试结果表明,该飞行器不仅能稳定飞行,还能获取灾害现场的图像信息。展开更多
针对四旋翼飞行器的非线性姿态运动动力学模型,设计了一种新的几乎全局稳定的非线性PID(Proportional Integral Derivative)姿态控制器.该控制器由一个线性PID的控制部分和一个惯性力矩补偿部分组成,可以抑制常值干扰和幅值有界且能量...针对四旋翼飞行器的非线性姿态运动动力学模型,设计了一种新的几乎全局稳定的非线性PID(Proportional Integral Derivative)姿态控制器.该控制器由一个线性PID的控制部分和一个惯性力矩补偿部分组成,可以抑制常值干扰和幅值有界且能量有界的干扰.数字仿真验证了该控制器对干扰的抑制作用.在搭建的姿态控制实验平台上进行了定点姿态跟踪控制实验.实验结果显示俯仰角和滚转角的误差均小于1°,验证了该控制器对小角度控制的有效性和对未建模动态的鲁棒性.展开更多
基金supported by the National Natural Science Foundation of China(61573282)the Foundation of the Education Department of Sichuan Province(16ZA0132)the Foundation of Robot Technology Used for Special Environment,Key Laboratory of Sichuan Province(13zxtk06)
文摘A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this paper.Firstly, a dynamical system of the quadrotor taking into account aerodynamical effects induced by lateral wind and actuator faults is considered using the Newton-Euler approach. Then,based on active disturbance rejection control(ADRC), the fault tolerant controller is proposed to recover faulty system and reject perturbations. The developed controller takes wind gusts,actuator faults and measurement noises as total perturbations which are estimated by improved extended state observer(ESO)and compensated by nonlinear feedback control law. So, the developed robust fault tolerant controller can successfully accomplish the tracking of the desired output values. Finally, some simulation studies are given to illustrate the effectiveness of fault recovery of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts and measurement noises.
基金the Natural Science Foundation of Shandong Province(ZR2020KF027,ZR2020MF067).
文摘To improve the accuracy of the Ultra-Wide Band(UWB)based quadrotor aircraft localization,a Finite Impulse Response(FIR)flter aided with an integration of the predictive model and Extreme Learning Machine(ELM)is proposed in this work.The FIR flter estimates the quad-rotor aircraft’s position by fusing the positions measured with the UWB and Inertial Navigation System respectively.When the UWB dada are unavailable,both the ELM and the predictive model are used to provide the measurements,replacing those unavailable UWB data,for the FIR flter.The ELM estimates the measurement via the mapping between the one step prediction of state vector and the measurement built when the UWB data are available.For the predictive model,we mathematically describe the missing UWB data.Then,both the measurements estimated with the ELM and predictive model are employed to estimate the observations via Mahalanobis distance.The test results show that the FIR flter aided by the predictive model/ELM integrated can reduce the Cumulative Distribution Function and position Root Mean Square Error efectively when the UWB is unavailable.Compared with the ELM assisted FIR flter,the proposed FIR flter can reduce the localization error by about 48.59%,meanwhile,the integrated method is close to the method with a better solution.
文摘针对大型灾害现场中难以获取现场信息的问题,设计一种基于STM32的小型四旋翼飞行器。该飞行器获取自身的位姿信息后使用比列-积分-微分(Proportion Integral Differential,PID)算法调节飞行姿态,使用OpenMV4实现无线图像传输功能。测试结果表明,该飞行器不仅能稳定飞行,还能获取灾害现场的图像信息。
文摘针对四旋翼飞行器的非线性姿态运动动力学模型,设计了一种新的几乎全局稳定的非线性PID(Proportional Integral Derivative)姿态控制器.该控制器由一个线性PID的控制部分和一个惯性力矩补偿部分组成,可以抑制常值干扰和幅值有界且能量有界的干扰.数字仿真验证了该控制器对干扰的抑制作用.在搭建的姿态控制实验平台上进行了定点姿态跟踪控制实验.实验结果显示俯仰角和滚转角的误差均小于1°,验证了该控制器对小角度控制的有效性和对未建模动态的鲁棒性.
