针对四旋翼无人机在飞行过程中发生执行器故障和受到外界干扰的问题, 提出了一种基于自适应方法的容错控制方案。将执行器故障以乘性因子的形式加入到系统模型中, 同时采用单位四元数法描述系统姿态; 考虑到位置子系统欠驱动的特性, 引入虚拟控制力, 同时解算出目标姿态和输入推力; 针对同时存在执行器故障和外界干扰的位置和姿态子系统模型, 利用自适应的方法设计了容错控制器, 保证了对目标姿态的跟踪。最后, 仿真结果验证了该系统控制器的有效性和稳定性。

A fault-tolerant control method was proposed based on adaptive control for the quadrotor UAV in the presence of actuator fault and external disturbances.The actuator fault was added to the system model in the form of multiplicative factor, and the attitude was described with unit quaternions.Considering the under-actuated characteristic of position subsystem, the virtual control force was introduced, and the actual thrust and the desired attitude were calculated out.To the position and attitude subsystem with both actuator fault and external disturbances, an adaptive fault tolerant controller was designed to track the desired attitude.Finally, the simulation shows the effectiveness and stability of the proposed controller.