ROBUST FAULT TOLERANT CONTROL BASED ON LADRC FOR THE QUADROTOR

摘要

This paper focuses on the position and attitude control for a quadrotor having disturbance and actuator faults during the flight. The quadrotor is an underactuated, strong coupled, nonlinear complex system with uncertain parameters and particularly sensitive to external disturbance which is difficult to model. In addition, partial failure of four actuators of the quadrotor is the most frequently occurred in the actual flight test. In order to solve the above problems, a robust fault tolerant controller is designed in this paper that combines time-delay control (TDC) and the linear adaptive disturbance rejection control (LADRC) method. The performance of the controller is analyzed by simulation experiments, which show that the designed controller is with good performance for suppressing parameter uncertainties, external disturbances and fault tolerant of actuator faults.