In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.

在本文中，研究了四转子在复杂非线性，输入耦合，空气动力学不确定性以及外部干扰与多电机故障耦合的情况下的位置和姿态跟踪控制。为此，提出了一种基于鲁棒非线性动态反演（NDI）的容错控制（FTC）方案。所提出的方案不仅对上述非线性，扰动和不确定性具有鲁棒性，而且可以容忍多个电动机中的故障的意外发生。所提出的方案采用不确定性和扰动估计器（UDE）技术，通过提供集中扰动的估计值来鲁棒基于NDI的控制器，从而能够拒绝该扰动。此外，UDE还扮演着故障检测和识别模块的角色。