We study an in-flight actuator failure recovery problem for a hexrotor UAV. The hexrotor may experience external disturbances and modeling error, which are accounted for in the control design and distinguished from an actuator failure. A failure of any one actuator occurs during flight and must be identified quickly and accurately. This is achieved through the use of a multiple-model, multiple extended high-gain observer (EHGO) based output feedback control strategy. The family of EHGOs are responsible for estimating states, disturbances, and are used to select the appropriate model based on the system dynamics after a failure has occurred. The proposed method is theoretically analyzed and validated through simulations and experiments.

中文翻译：

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通过多种模型和扩展的高增益观测器对六旋翼飞行器的飞行中执行器故障恢复

我们研究了六旋翼无人机的飞行中执行器故障恢复问题。六旋翼可能会遇到外部干扰和建模错误，这在控制设计中已考虑在内，并与执行器故障区分开来。任何一个执行器在飞行过程中发生故障，必须快速准确地识别。这是通过使用基于多模型、多扩展高增益观测器 (EHGO) 的输出反馈控制策略来实现的。EHGO 家族负责估计状态、扰动，并用于在发生故障后根据系统动力学选择合适的模型。通过仿真和实验对所提出的方法进行了理论分析和验证。