This paper presents a study on a quadrotor unmanned aerial vehicle (UAV) fault-tolerant control scheme. According to the attitude model and safety control of the aircraft under the uncertainty of inertial matrix, the attitude state constraint by reinforcement learning is designed to ensure safety. Even if the boundary is crossed, it can be pulled back to the boundary by means of a designed penalty function with reinforcement learning. Meanwhile, in order to inhibit the oscillation caused by immediate reward as usual, an adaptive update law is proposed. Furthermore, considering the coupled actuator fault and system input saturation due to uncertainty of inertial matrix, the Nussbaum-type function is utilized in this work to handle this challenge, which likely causes the singularity of inertia matrix. As a consequence, combined with the Lyapunov stability theory, it is confirmed that the proposed FTC scheme ensures that all the closed-loop signals are bounded. Simulation results are carried out to illustrate the effectiveness and advantage of the proposed control scheme.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Adaptive Fault-Tolerant Tracking Control of Quadrotor UAVs against Uncertainties of Inertial Matrices and State Constraints


    Beteiligte:
    Shuai Yang (Autor:in) / Zhihui Zou (Autor:in) / Yingchao Li (Autor:in) / Haodong Shi (Autor:in) / Qiang Fu (Autor:in)


    Erscheinungsdatum :

    2023




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




    Fault-Tolerant Mapping and Localization for Quadrotor UAVs

    Gilson, Maximillian / Gauthier, Jason / Garcia, Kaylee et al. | AIAA | 2021


    FAULT-TOLERANT MAPPING AND LOCALIZATION FOR QUADROTOR UAVS

    Gilson, Maximillian / Gauthier, Jason / Garcia, Kaylee et al. | TIBKAT | 2021


    Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs

    Merheb, Abdel-Razzak / Noura, Hassan / Bateman, Francois et al. | IEEE | 2015



    Adaptive Control of Quadrotor UAVs in the Presence of Actuator Uncertainties

    Dydek, Zachary / Annaswamy, Anuradha / Lavretsky, Eugene | AIAA | 2010