A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts |
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| Yuying Guo, Bin Jiang and Youmin Zhang, "A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 292-300, Jan. 2018. doi: 10.1109/JAS.2017.7510679 |
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| Authors: | Guo Yuying Jiang Bin Zhang Youmin |
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| Affiliation: | 1. School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China;2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;3. Department of Mechanical, Industrial and Aerospace Engineering and the Concordia Institute of Aerospace Design and Innovation, Faculty of Engineering and Computer Science, Concordia University, Montreal, Quebec H3G 1M8, Canada |
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| Abstract: | A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this paper. Firstly, a dynamical system of the quadrotor taking into account aerodynamical effects induced by lateral wind and actuator faults is considered using the Newton-Euler approach. Then, based on active disturbance rejection control (ADRC), the fault tolerant controller is proposed to recover faulty system and reject perturbations. The developed controller takes wind gusts, actuator faults and measurement noises as total perturbations which are estimated by improved extended state observer (ESO) and compensated by nonlinear feedback control law. So, the developed robust fault tolerant controller can successfully accomplish the tracking of the desired output values. Finally, some simulation studies are given to illustrate the effectiveness of fault recovery of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts and measurement noises. |
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| Keywords: | Active disturbance rejection control (ADRC) attitude control actuator faults disturbances rejection quadrotor aircraft |
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