This study examines the trajectory tracking problem of a quadrotor in the presence of actuator faults and external disturbances. A fault-tolerant tracking control method is proposed, utilizing recursive least squares to online identify the parameter changes of motors during flight. The combination of identified motor parameter information, an augmented state observer, and nonlinear model predictive control is employed to achieve trajectory tracking control of the quadrotor under actuator faults and external disturbances. Finally, simulation results ultimately confirm the effectiveness of the proposed nonlinear MPC-based fault-tolerant tracking control strategy.
Nonlinear MPC-Based Fault-Tolerant Tracking Control of a Quadrotor with Actuator Faults
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
2025-03-02
11 pages
Article/Chapter (Book)
Electronic Resource
English
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