As a part of emergency landing architecture for multi-rotor, a fault-tolerant trajectory tracking control strategy is proposed in this paper to control a quadcopter in case of a partial motor fault. The introduction of fault-tolerant strategy includes a lightweight fault detection and identification algorithm and a three-loop tracking controller. The lightweight fault detection and identification algorithm identifies the fault based on the controller outputs and the angular rates calculated by a discrete extended Kalman filter. The three-loop controller comprises a cascade structure of a discrete nonlinear adaptive algorithm in the inner-loop and a PID algorithm in the outer-loops of the controller structure. To have more realistic simulations, the gyroscopic effects of rotors and the airframe drag terms are considered in modeling as the model uncertainty. The simulation results demonstrate that the proposed fault-tolerant controller can effectively control the quadcopter in presence of partial motor fault, model uncertainties, and sensor noises. The results also demonstrate the effect of fault detection time delay on the overall control performance.

作为多旋翼紧急着陆架构的一部分，本文提出了一种容错轨迹跟踪控制策略，以在部分电机故障的情况下控制四轴飞行器。容错策略的引入包括轻量级故障检测和识别算法和三环跟踪控制器。轻量级故障检测和识别算法基于控制器输出和离散扩展卡尔曼滤波器计算的角速率来识别故障。三环控制器包括控制器结构的内环中的离散非线性自适应算法和外环中的PID算法的级联结构。为了有更真实的模拟，转子的陀螺效应和机身阻力项在建模中被视为模型不确定性。仿真结果表明，所提出的容错控制器可以在存在部分电机故障、模型不确定性和传感器噪声的情况下有效地控制四轴飞行器。结果还证明了故障检测时间延迟对整体控制性能的影响。