ABSTRACT This paper addresses the problem of fault estimation and fault tolerant control for quadrotor unmanned aerial vehicle. Firstly, a robust adaptive fault estimation observer (AFEO) is proposed to achieve fault estimation of quadrotor with actuator fault in the presence of external disturbances and parameter uncertainties. Furthermore, based on the estimation of fault, a dynamic output feedback fault tolerant controller (DOFFTC) is designed to stabilise the closed-loop system with faults and uncertainties. Sufficient conditions for the existence of both AFEO and DOFFTC are given in terms of linear matrix inequalities. Finally, simulation results are presented to illustrate the effectiveness of the proposed strategy.

中文翻译：

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四旋翼姿态系统的鲁棒自适应故障估计与容错控制

摘要 本文解决了四旋翼无人机的故障估计和容错控制问题。首先，提出了一种鲁棒的自适应故障估计观测器（AFEO），以在存在外部干扰和参数不确定性的情况下实现四旋翼执行器故障的故障估计。此外，基于故障估计，设计了动态输出反馈容错控制器（DOFFTC）来稳定具有故障和不确定性的闭环系统。根据线性矩阵不等式给出了 AFEO 和 DOFFTC 存在的充分条件。最后，给出了仿真结果来说明所提出策略的有效性。