Obstacle Avoidance Control of Unmanned Aerial Vehicle with Motor Loss-of-Effectiveness Fault Based on Improved Artificial Potential Field

Yibo Zhao, Li-Ying Hao () and Zhi-Jie Wu
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Yibo Zhao: College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China
Li-Ying Hao: College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China
Zhi-Jie Wu: College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China

Sustainability, 2023, vol. 15, issue 3, 1-15

Abstract: This paper presents an obstacle avoidance control strategy for an underactuated quadrotor unmanned aerial vehicle with motor loss-of-effectiveness fault and disturbance. The control system is divided into two parts: the obstacle avoidance loop and the tracking loop. By introducing the height factor in the artificial potential field function, an improved obstacle avoidance strategy is designed in the obstacle avoidance loop. Compared with the existing literature, the proposed obstacle avoidance strategy can avoid falling into the trap of the local optimum when a UAV encounters obstacles. At the same time, considering the sudden motor loss-of-effectiveness fault of UAV, adaptive technology is used to estimate the fault parameters online to restrain the effects of motor loss-of-effectiveness fault in the tracking loop. The stability of the closed-loop UAV system is guaranteed by stabilizing each of the subsystems through backstepping technology. Simulations are conducted to demonstrate the effectiveness of the designed obstacle avoidance control strategy.

Keywords: unmanned aerial vehicle; obstacle avoidance; fault-tolerant control; improved artificial potential field (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2023
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