Fault Tolerant Control Algorithm of Hexarotor UAV
Joint Authors
Jiao, Songming
Gao, Haiyue
Zheng, Xiaokun
Liu, Dengpan
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-04
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
As the best representative of the current cutting-edge technology, unmanned aerial vehicle (UAV) is widely used in various fields such as electric power inspection, agriculture, forestry and plant protection, fire rescue, and film and television shooting.
With the rapid development of UAV, the safety work of UAV has become more important.
In order to improve the safety of hexarotor UAV during flight, a fault-tolerant control scheme independent of basic control law and control distribution is designed in this paper.
Firstly, the linear active disturbance rejection control (LADRC) was used as the basic control law for attitude control of hexarotor UAV.
Secondly, in the case of actuator failure of hexarotor UAV, a fault observer was used to estimate fault information accurately.
Then, on this basis, the control distribution matrix was adjusted to reduce the use of the faulty motor, and the purpose of fault-tolerant control was achieved.
Finally, simulation experiments and actual flight experiments were carried out to verify the effectiveness of the proposed scheme.
Experimental results show that the proposed scheme can improve the robustness of the control system and the flight safety of UAV.
American Psychological Association (APA)
Jiao, Songming& Gao, Haiyue& Zheng, Xiaokun& Liu, Dengpan. 2020. Fault Tolerant Control Algorithm of Hexarotor UAV. Journal of Robotics،Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1190261
Modern Language Association (MLA)
Jiao, Songming…[et al.]. Fault Tolerant Control Algorithm of Hexarotor UAV. Journal of Robotics No. 2020 (2020), pp.1-16.
https://search.emarefa.net/detail/BIM-1190261
American Medical Association (AMA)
Jiao, Songming& Gao, Haiyue& Zheng, Xiaokun& Liu, Dengpan. Fault Tolerant Control Algorithm of Hexarotor UAV. Journal of Robotics. 2020. Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1190261
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190261