Design of Fault Tolerant Control System for Four-rotor UAV Actuator Failure

摘要

In this paper, we study an adaptive fault-tolerant controller that can operate effectively in a linear time-invariant system saturated with an aircraft actuator. A new method of indirect adaptive fault-tolerant design An actuator fault compensation controller based on state feedback is proposed. Controller parameters for these designs are automatically replaced based on an online estimate of the final fault. The effect of the fault problem on the system is mitigated by changes in parameters. These assumptions were studied using the Linear Matrix Inequality (LMI) approach because it can extend the closed asymptotic stability domain. Improves the stability of the loop system when the actuator is saturated and faulty.