Fault Tolerant Control and Simulation of Quadrotor Based on Adaptive Observer

Authors

Zhao Jing, 1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China;;2. Jiangsu Engineering Lab for Iot Intelligent Robots (Iot Robot), Nanjing 210023, China;
Wang Peng, 1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China;;2. Jiangsu Engineering Lab for Iot Intelligent Robots (Iot Robot), Nanjing 210023, China;
Xiaoqian Ding, 1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China;;2. Jiangsu Engineering Lab for Iot Intelligent Robots (Iot Robot), Nanjing 210023, China;
Guoping Jiang, 1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China;;2. Jiangsu Engineering Lab for Iot Intelligent Robots (Iot Robot), Nanjing 210023, China;
Fengyu Xu, 1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China;;2. Jiangsu Engineering Lab for Iot Intelligent Robots (Iot Robot), Nanjing 210023, China;
Yanfei Sun, 1. College of Automation & College of Artificial Intelligence, Nanjing University of Posts and Telecommunications, Nanjing 210023, China;;2. Jiangsu Engineering Lab for Iot Intelligent Robots (Iot Robot), Nanjing 210023, China;

Abstract

Abstract: Focusing on the actuator fault of quadrotor, an integral backstepping sliding mode combined with adaptive observer is proposed to ensure the safety and reliability of the quadrotor. A dynamic model of the quadrotor with actuator fault are established. An adaptive observer is proposed to observe the state and estimate the actual value of the fault. The attitude fault tolerant controller and position controllers are designed by the method of integral backstepping combined with the sliding mode control to complete the trajectory tracking of attitude and position. The simulation results show that the control strategy can quickly and accurately track the desired signals during actuator fault.

Recommended Citation

Jing, Zhao; Peng, Wang; Ding, Xiaoqian; Jiang, Guoping; Xu, Fengyu; and Sun, Yanfei (2022) "Fault Tolerant Control and Simulation of Quadrotor Based on Adaptive Observer," Journal of System Simulation: Vol. 34: Iss. 1, Article 1.
DOI: 10.16182/j.issn1004731x.joss.20-0634
Available at: https://dc-china-simulation.researchcommons.org/journal/vol34/iss1/1

First Page

1

Revised Date

2020-12-11

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.20-0634

Last Page

10

CLC

TP391;V279

Recommended Citation

Zhao Jing, Wang Peng, Ding Xiaoqian, Jiang Guoping, Xu Fengyu, Sun Yanfei. Fault Tolerant Control and Simulation of Quadrotor Based on Adaptive Observer[J]. Journal of System Simulation, 2022, 34(1): 1-10.

DOI

10.16182/j.issn1004731x.joss.20-0634