This paper studies the diagnosis and compensation for sensor and actuator faults in a quadrotor unmanned aerial vehicle. Without adding sensors or actuators for increased hardware redundancy, an observer-based adaptive controller is proposed to estimate and compensate for the faults. First, using a feedback linearization technique, an inner controller is designed to transform the form of the considered quadrotor unmanned aerial vehicle with faults into a nonlinear system with Lipschitz-like nonlinearities and parametric faulty models. Second, the estimations for unmeasurable state and actuator faults are performed in an output-feedback outer controller to compensate for the actuator faults. Third, a nonlinear high-gain observer is designed to provide the information of the state and faults to the outer controller, with the compensations for sensor faults. A Lyapunov-based analysis shows that appropriate choices of the controller parameters can guarantee the exponential convergence of errors in estimation and trajectory tracking under uncertainties and faults. The robustness to the external disturbances is also discussed. Simulations are given to verify the effectiveness of the proposed scheme. The proposed approach is also implemented on a quadrotor unmanned aerial vehicle to show its feasibility in real-time applications.

中文翻译：

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基于非线性高增益观测器的四旋翼无人机执行器和传感器故障诊断与补偿

本文研究了四旋翼无人机的传感器和执行器故障的诊断和补偿。在不增加传感器或执行器来增加硬件冗余的情况下，提出了一种基于观察者的自适应控制器来估计和补偿故障。首先，使用反馈线性化技术，设计了一个内部控制器，以将考虑过故障的四旋翼无人飞行器的形式转换为具有类似Lipschitz非线性和参数化故障模型的非线性系统。其次，在输出反馈外部控制器中对无法测量的状态和执行器故障进行估算，以补偿执行器故障。第三，设计了一个非线性的高增益观察器，以将状态和故障信息提供给外部控制器，补偿传感器故障。李雅普诺夫为基础的分析表明，该控制器参数的适当选择，可以保证在不确定性和错误估计和轨迹跟踪误差的指数收敛。还讨论了对外部干扰的鲁棒性。通过仿真验证了所提方案的有效性。拟议的方法也可在四旋翼无人机上实现，以显示其在实时应用中的可行性。通过仿真验证了所提方案的有效性。拟议的方法也可在四旋翼无人机上实现，以显示其在实时应用中的可行性。通过仿真验证了所提方案的有效性。拟议的方法也可在四旋翼无人机上实现，以显示其在实时应用中的可行性。