TY - GEN
T1 - A Compensative Fault Tolerant Control Algorithm for Quadrotor's Attitude Control System
AU - Renjie, Tang
AU - Yizheng, Xu
AU - Qingqing, Zheng
AU - Xiaopeng, Chen
AU - Weizhong, Zhang
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - Quadrotors are becoming increasingly popular both in academic and industrial research since they have great maneuverability, hovering ability as well as the capability of advanced autonomous missions that are currently not possible for other vehicles. However, one or several of multiple rotors of a quadrotor may encounter some unexpected problems, which may result into a system failure. In this article, a new compensative fault tolerant control algorithm based on adaptive control theory was proposed to deal with this kind of problems. Firstly, a mathematical model of quadrotors' attitude control system was established. Then, based on the adaptive control theory, a fault-tolerant controller was designed and the asymptotic stability of the system is proved with lyapunov stability theory. At last, the performance of this algorithm was verified by a simulation experiment which was set under the condition of unknown external disturbances and limited actuator faults.
AB - Quadrotors are becoming increasingly popular both in academic and industrial research since they have great maneuverability, hovering ability as well as the capability of advanced autonomous missions that are currently not possible for other vehicles. However, one or several of multiple rotors of a quadrotor may encounter some unexpected problems, which may result into a system failure. In this article, a new compensative fault tolerant control algorithm based on adaptive control theory was proposed to deal with this kind of problems. Firstly, a mathematical model of quadrotors' attitude control system was established. Then, based on the adaptive control theory, a fault-tolerant controller was designed and the asymptotic stability of the system is proved with lyapunov stability theory. At last, the performance of this algorithm was verified by a simulation experiment which was set under the condition of unknown external disturbances and limited actuator faults.
KW - Adaptive control theory
KW - Fault tolerant control
KW - Quadrotor
UR - https://www.scopus.com/pages/publications/85073096672
U2 - 10.1109/CCDC.2019.8833294
DO - 10.1109/CCDC.2019.8833294
M3 - Conference contribution
AN - SCOPUS:85073096672
T3 - Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019
SP - 1486
EP - 1491
BT - Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 31st Chinese Control and Decision Conference, CCDC 2019
Y2 - 3 June 2019 through 5 June 2019
ER -