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

Author

Listed:
  • 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
    These authors contributed equally to this work.)

  • 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
    These authors contributed equally to this work.)

  • 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)

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.

Suggested Citation

  • Lei Liu & Junjie Liu & Junfang Li & Yuehui Ji & Yu Song & Liang Xu & Wenxing Niu, 2022. "Fault-Tolerant Control for Quadrotor Based on Fixed-Time ESO," Mathematics, MDPI, vol. 10(22), pages 1-26, November.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:22:p:4386-:d:979413
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    Citations

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    Cited by:

    1. Nana Cheng & Chaoli Wang, 2023. "A Switching Mode Control Scheme for the Hovering Control of Quadrotor Unmanned Aerial Vehicles," Mathematics, MDPI, vol. 11(4), pages 1-28, February.

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