多旋翼无人机应用中一旦发生执行机构故障, 将会危及无人机、地面人员与周围环境的安全。研究多旋翼无人机的执行机构故障重构技术有利于对其实施容错控制, 提高运行的安全性和可靠性。首先对多旋翼无人机执行机构故障进行分类, 建模分析了执行机构卡死和失效两类故障, 建立了故障下六旋翼无人机的数学模型, 然后分别设计基于自适应观测器的故障重构方法。通过选取合适的自适应律, 自动调节非线性观测器的参数, 实现对故障信息的精确重构。仿真结果证明了故障重构方法的准确性。

Once an actuator fault happens on a multi-rotor Unmanned Aerial Vehicle (UAV) the safety of the multi-rotor UAV the ground crew and the surroundings would be under threat.Fault reconstruction for actuator faults of multi-rotor UAV is beneficial to realize the fault-tolerant control and can improve the UAV safety and reliability.Firstly the actuator faults of the multi-rotor UAV is classified two kinds of faults such as actuator stuck and failing are analyzed and mathematical model of hexa-copter under actuator faults is built up.Secondly fault reconstruction based on adaptive observer is designed.By selecting suitable adaptive law the nonlinear observation parameters can be regulated automatically and the reconstruction to the fault information can be achieved accurately.The simulation validates the accuracy of the fault reconstruction methods.