Most of the existing quadrotor control strategies assume that the center of gravity (COG) coincides with the geometric center and remains unchanged. However, for a quadrotor UAV with payload, especially the slung payload, the spherical oscillation of the load during the flight will inevitably lead to the varying COG for a quadrotor UAV and affect the stability of attitude controllers which designed based on the assumption without COG variation. Aiming at the time-varying COG and unknown external disturbance, an adaptive fault-tolerant control method for quadrotor is proposed in this paper. A new quadrotor dynamic model is established with slung payload and the time-varying COG. Then we design an adaptive fault-tolerant controller to ensure the uniformly ultimate bounds (UUB) stability of all signals in the closed-loop system. The simulation experiments are carried out to prove the effectiveness, adaptability and robustness of the proposed design method.
Adaptive fault-tolerant flight control for a quadrotor UAV with slung payload and varying COG
2019-05-01
286814 byte
Conference paper
Electronic Resource
English