Active Fault Tolerant Control Design for Quadrotor

• Main Authors: Tsai, Jung-Chiun, 蔡仲群
• Other Authors: Chen, Fu-Chuang
• Format: Others
• Language: zh-TW
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/985up4

碩士 === 國立交通大學 === 電控工程研究所 === 107 === The quadrotor has a simple structure. It can take off and land vertically, fly at low speed and hover stably. It is easy to control. It can achieve any position and attitude by operating the four motors. In recent years, it has attracted more and more researchers' attention. When the quadrotor faults such as the motor failure and the sensor measurement fault occur, the fault-tolerant control design is needed to complete the specified tasks. There are two types of fault-tolerant control: passive fault tolerance and active fault tolerance. This paper uses active fault-tolerant control. Compared with passive fault-tolerant control, it has the function of fault diagnosis and detection. Detecting the faults and adjusting the controller in real time enables the quadrotor to complete the tasks. This paper firstly derives the quadrotor model. This system is a nonlinear system, which is converted to linear by state dependent coefficient (SDC). The quadrotor is an uncontrollable system under a condition, thus expanding the degree of freedom of the function of the equation. The unknown signal and the system states of the fault are difficult to detect completely, so the unknown input estimation method is proposed. However, the method has strict observability conditions. Therefore, the fault decoupled estimation method is proposed. Get the best control input with linear quadratic regulator (LQR) to complete the desired trajectory tracking. Finally, the Matlab simulation results are used to verify the difference between the two estimation methods and the effect of the controller.