TY - GEN
T1 - Fault-tolerant control for unmanned aerial vehicle with wing damaged
AU - Fan, Bai Qing
AU - Zhang, Xiao
AU - Tian, Bo
AU - Guo, Lei
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/15
Y1 - 2017/12/15
N2 - The flight of unmanned aerial vehicle (UAV) is vulnerable to various disturbances and faults. In this paper, the small damage of the wing of an unmanned aerial vehicle is taken into consideration. The UAV control framework consists of force loop and torque loop, where the nonlinear disturbance observer (NDO) based dynamic inverse (DI) control and the extended state observer (ESO) based dynamic inverse control are employed respectively to control these two loops. The required force and moment are allocated to the steering gear and thrust vector of the UAV. The designed control law can not only make the UAV fly effectively in the presence of a fault, but also meet the demand of UAV for high maneuver flight. Finally, simulation results verify the effectiveness of the proposed method.
AB - The flight of unmanned aerial vehicle (UAV) is vulnerable to various disturbances and faults. In this paper, the small damage of the wing of an unmanned aerial vehicle is taken into consideration. The UAV control framework consists of force loop and torque loop, where the nonlinear disturbance observer (NDO) based dynamic inverse (DI) control and the extended state observer (ESO) based dynamic inverse control are employed respectively to control these two loops. The required force and moment are allocated to the steering gear and thrust vector of the UAV. The designed control law can not only make the UAV fly effectively in the presence of a fault, but also meet the demand of UAV for high maneuver flight. Finally, simulation results verify the effectiveness of the proposed method.
KW - control allocation
KW - dynamic inverse
KW - extended state observer
KW - nonlinear disturbance observer
KW - unmanned aerial vehicle
UR - https://www.scopus.com/pages/publications/85046671088
U2 - 10.1109/IECON.2017.8216539
DO - 10.1109/IECON.2017.8216539
M3 - 会议稿件
AN - SCOPUS:85046671088
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 3191
EP - 3196
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Y2 - 29 October 2017 through 1 November 2017
ER -