Adaptive Fault-tolerant Control of Six-rotor Unmanned Aerial Vehicles
| Autor: | Wei Guan, Shanwen Ding |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
Adaptive control
010504 meteorology & atmospheric sciences Computer science Rotor (electric) 0211 other engineering and technologies Linear matrix inequality Fault tolerance 02 engineering and technology 01 natural sciences law.invention Robustness (computer science) Control theory law 021101 geological & geomatics engineering 0105 earth and related environmental sciences |
| Zdroj: | 2019 Chinese Control And Decision Conference (CCDC). |
| Popis: | This paper studies the flight dynamics modeling of six-rotor unmanned aerial vehicles and designs an adaptive fault-tolerant controller via state feedback referring to the model. The method enables six-rotor unmanned aerial vehicles to not only land safely, but also to hover and propel normally when the motors are stuck or blocked. Based on the on-line estimation of eventual faults, the adaptive fault-tolerant controller parameters are updating automatically to compensate the fault effects on the system. By using the framework of linear matrix inequality(LMI) approach, the proposed algorithm enhances the security and robustness of the system. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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