Fault-Tolerant Control for Quadrotor Based on Fixed-Time ESO
Lei Liu,
Junjie Liu,
Junfang Li,
Yuehui Ji,
Yu Song,
Liang Xu,
Wenxing Niu
Affiliations
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
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.
