A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts

摘要

A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this paper.Firstly,a dynamical system of the quadrotor taking into account aerodynamical effects induced by lateral wind and actuator faults is considered using the Newton-Euler approach.Then,based on active disturbance rejection control (ADRC),the fault tolerant controller is proposed to recover faulty system and reject perturbations.The developed controller takes wind gusts,actuator faults and measurement noises as total perturbations which are estimated by improved extended state observer (ESO)and compensated by nonlinear feedback control law.So,the developed robust fault tolerant controller can successfully accomplish the tracking of the desired output values.Finally,some simulation studies are given to illustrate the effectiveness of fault recovery of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts and measurement noises.