Robust adaptive fault estimation and fault tolerant control for quadrotor attitude systems

TLDR

The study targets fault estimation and fault‑tolerant control for quadrotor UAVs. A robust adaptive fault‑estimation observer and a dynamic output‑feedback fault‑tolerant controller are designed, with existence conditions expressed as linear matrix inequalities. Simulations demonstrate the effectiveness of the proposed strategy.

Abstract

This paper addresses the problem of fault estimation and fault tolerant control for quadrotor unmanned aerial vehicle. Firstly, a robust adaptive fault estimation observer (AFEO) is proposed to achieve fault estimation of quadrotor with actuator fault in the presence of external disturbances and parameter uncertainties. Furthermore, based on the estimation of fault, a dynamic output feedback fault tolerant controller (DOFFTC) is designed to stabilise the closed-loop system with faults and uncertainties. Sufficient conditions for the existence of both AFEO and DOFFTC are given in terms of linear matrix inequalities. Finally, simulation results are presented to illustrate the effectiveness of the proposed strategy.