Fault Tolerant Control Algorithm of Hexarotor UAV
As the best representative of the current cutting-edge technology, unmanned aerial vehicle (UAV) is widely used in various fields such as electric power inspection, agriculture, forestry and plant protection, fire rescue, and film and television shooting. With the rapid development of UAV, the safet...
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| Format: | Article |
| Language: | English |
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Wiley
2020-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2020/8829329 |
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| author | Songming Jiao Haiyue Gao Xiaokun Zheng Dengpan Liu |
| author_facet | Songming Jiao Haiyue Gao Xiaokun Zheng Dengpan Liu |
| author_sort | Songming Jiao |
| collection | DOAJ |
| description | As the best representative of the current cutting-edge technology, unmanned aerial vehicle (UAV) is widely used in various fields such as electric power inspection, agriculture, forestry and plant protection, fire rescue, and film and television shooting. With the rapid development of UAV, the safety work of UAV has become more important. In order to improve the safety of hexarotor UAV during flight, a fault-tolerant control scheme independent of basic control law and control distribution is designed in this paper. Firstly, the linear active disturbance rejection control (LADRC) was used as the basic control law for attitude control of hexarotor UAV. Secondly, in the case of actuator failure of hexarotor UAV, a fault observer was used to estimate fault information accurately. Then, on this basis, the control distribution matrix was adjusted to reduce the use of the faulty motor, and the purpose of fault-tolerant control was achieved. Finally, simulation experiments and actual flight experiments were carried out to verify the effectiveness of the proposed scheme. Experimental results show that the proposed scheme can improve the robustness of the control system and the flight safety of UAV. |
| format | Article |
| id | doaj-art-a9dcb745916a479da1da64f12b83e390 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-a9dcb745916a479da1da64f12b83e3902025-02-03T06:06:26ZengWileyJournal of Robotics1687-96001687-96192020-01-01202010.1155/2020/88293298829329Fault Tolerant Control Algorithm of Hexarotor UAVSongming Jiao0Haiyue Gao1Xiaokun Zheng2Dengpan Liu3Department of Automation, North China Electric Power University, Baoding 071003, ChinaDepartment of Automation, North China Electric Power University, Baoding 071003, ChinaDepartment of Automation, North China Electric Power University, Baoding 071003, ChinaDepartment of Automation, North China Electric Power University, Baoding 071003, ChinaAs the best representative of the current cutting-edge technology, unmanned aerial vehicle (UAV) is widely used in various fields such as electric power inspection, agriculture, forestry and plant protection, fire rescue, and film and television shooting. With the rapid development of UAV, the safety work of UAV has become more important. In order to improve the safety of hexarotor UAV during flight, a fault-tolerant control scheme independent of basic control law and control distribution is designed in this paper. Firstly, the linear active disturbance rejection control (LADRC) was used as the basic control law for attitude control of hexarotor UAV. Secondly, in the case of actuator failure of hexarotor UAV, a fault observer was used to estimate fault information accurately. Then, on this basis, the control distribution matrix was adjusted to reduce the use of the faulty motor, and the purpose of fault-tolerant control was achieved. Finally, simulation experiments and actual flight experiments were carried out to verify the effectiveness of the proposed scheme. Experimental results show that the proposed scheme can improve the robustness of the control system and the flight safety of UAV.http://dx.doi.org/10.1155/2020/8829329 |
| spellingShingle | Songming Jiao Haiyue Gao Xiaokun Zheng Dengpan Liu Fault Tolerant Control Algorithm of Hexarotor UAV Journal of Robotics |
| title | Fault Tolerant Control Algorithm of Hexarotor UAV |
| title_full | Fault Tolerant Control Algorithm of Hexarotor UAV |
| title_fullStr | Fault Tolerant Control Algorithm of Hexarotor UAV |
| title_full_unstemmed | Fault Tolerant Control Algorithm of Hexarotor UAV |
| title_short | Fault Tolerant Control Algorithm of Hexarotor UAV |
| title_sort | fault tolerant control algorithm of hexarotor uav |
| url | http://dx.doi.org/10.1155/2020/8829329 |
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