论文标题
四，两个或三个转子故障的四轮驱动器的均匀的被动断层控制
Uniform Passive Fault-Tolerant Control of a Quadcopter with One, Two, or Three Rotor Failure
论文作者
论文摘要
这项研究提出了一种统一的被动断层控制（FTC）方法，该方法不依赖于遵守一个，两个相邻，两个相反或三个转子故障的断层信息。统一的控制意味着被动FTC能够覆盖从四轮驱动器故障到转子故障的情况，而无需控制器切换。为了实现被动FTC的目的，将转子的断层建模为作用于四轮驱动器系统虚拟控制的干扰。该干扰估计直接用于转子故障的被动FTC。为了避免在正常控制和FTC之间切换控制器，使用了动态控制分配。此外，已经分析了闭环稳定性，并采用了虚拟控制反馈，以实现具有两个和三个转子故障的四轮驱动器的被动FTC。为了验证所提出的统一的被动FTC方法，首次进行室外实验，这表明悬停的四轮驱动器能够通过拟建的控制器从一个转子故障中恢复，即使两个相邻，两个相对或三个转子失败，也没有任何转子故障信息和对照器的交换。
This study proposes a uniform passive fault-tolerant control (FTC) method for a quadcopter that does not rely on fault information subject to one, two adjacent, two opposite, or three rotors failure. The uniform control implies that the passive FTC is able to cover the condition from quadcopter fault-free to rotor failure without controller switching. To achieve the purpose of the passive FTC, the rotors' fault is modeled as a disturbance acting on the virtual control of the quadcopter system. The disturbance estimate is used directly for the passive FTC with rotor failure. To avoid controller switching between normal control and FTC, a dynamic control allocation is used. In addition, the closed-loop stability has been analyzed and a virtual control feedback is adopted to achieve the passive FTC for the quadcopter with two and three rotor failure. To validate the proposed uniform passive FTC method, outdoor experiments are performed for the first time, which have demonstrated that the hovering quadcopter is able to recover from one rotor failure by the proposed controller and continue to fly even if two adjacent, two opposite, or three rotors fail, without any rotor fault information and controller switching.
