Robust quadrotor attitude regulation based on fault tolerant control schema

摘要

In this paper, the robust quadrotor attitude regulation based on fault tolerant control schema is investigated. The hover stability is heavily dependent on the thrust forces generated by the four rotors of the quadrotor. Once the rotors are in fault and loss the efficiency, the quadrotor will be unstable, even out of control. To the end, this paper presents a robust fault tolerant control schema for the quadrotor attitude regulation. The actuator faults are modeled in the system and a fault tolerant controller is designed. In addition, the external disturbance are considered and attenuated by the controller. Simulation results show the effectiveness of the proposed control schema.