关键词: 四旋翼无人机, 区间矩阵, 轨迹跟踪, 容错控制

Abstract: In order to solve the problem of fault-tolerant control of four-rotor UAV trajectory tracking, a fault-tolerant composite controller is proposed, which combines robust [H∞] control and disturbance observer with fault estimator. Under the condition of external bounded disturbance and additive fault, the trajectory tracking of four-rotor UAV is realized. The nonlinear dynamic model of UAV is decoupled into independent loop position control system and the inner angle control system. The introduction of interval matrix is used to describe the system parameters. The disturbance observer and fault estimator are designed to estimate and compensate the disturbance and fault respectively. A compound controller including the [H∞] controller and observers can not only better suppress disturbance but also ensure UAV a smooth flight under the existence fault. The effectiveness of this method is proved by simulations.

Key words: quadrotor UAV, interval matrix, track tracking, fault-tolerant control