Fault-Tolerant Control for Quadrotor Based on Fixed-Time ESO

Lei Liu, Junjie Liu, Junfang Li (), Yuehui Ji, Yu Song, Liang Xu and Wenxing Niu
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Lei Liu: Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
Junjie Liu: Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
Junfang Li: Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
Yuehui Ji: Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
Yu Song: Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
Liang Xu: Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
Wenxing Niu: Tianjin Enpromi Environmental Protection Technology Co., Ltd., Tianjin 300462, China

Mathematics, 2022, vol. 10, issue 22, 1-26

Abstract: Focusing on the actuator fault of the quadrotor unmanned aerial vehicle (QUAV), an active fault-tolerant control scheme based on fixed-time linear active disturbance rejection control is proposed. Firstly, in order to simplify the complex dynamic model, the virtual control quantity is introduced to decouple the flight control system of the QUAV. Secondly, the fixed-time extended state observer (ESO) is utilized to estimate and compensate the internal uncertainty, external disturbance and actuator fault of the QUAV in fixed time. Thirdly, a continuous output feedback controller based on fixed-time ESO is designed to keep the stability of the flight control system with actuator fault and external disturbance. Finally, the closed-loop stability of the flight control system is demonstrated by Lyapunov function. The numerical simulation is carried and the results also verify the effectiveness of the proposed control scheme.

Keywords: actuator fault; external disturbance; fault-tolerant control; fixed-time ESO; quadrotor; UAV (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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