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

摘要： 针对四旋翼无人机轨迹跟踪的容错控制问题，提出了一个鲁棒[H∞]控制和干扰观测器与故障估计器相结合的容错复合控制器的方法。在外部有界扰动和加性故障的条件下，实现对四旋翼无人机的轨迹跟踪。将四旋翼无人机非线性动态模型解耦成独立的外环位置控制系统和内环角度控制系统，引入区间矩阵对系统参数进行描述，使用干扰观测器和故障估计器进行干扰和故障的估计和补偿。然后设计一个复合控制器既能更好地抑制干扰又能保证无人机在自身存在故障的情况下平稳飞行。通过仿真证明该方法的有效性。

关键词: 四旋翼无人机, 区间矩阵, 轨迹跟踪, 容错控制