This article considers the safety control problem of a quadrotor unmanned aerial vehicle (UAV) subject to actuator faults and external disturbances, based on the quantization of system capability and safety margin. First, a trajectory function is constructed online with backpropagation of system dynamics. Therefore, a degraded trajectory is gracefully regenerated, via the tradeoff between the remaining system capability and the expected derivatives (velocity, jerk, and snap) of the trajectory. Second, a control-oriented model is established into a form of strict feedback, integrating actuator malfunctions and disturbances. Therefore, a retrofit dynamic surface control (DSC) scheme based on the control-oriented model is developed to improve the tracking performance. When comparing to the existing control methods, the compensation ability is analyzed to determine whether the faults and disturbances can be handled or not. Finally, simulation and experimental studies are conducted to highlight the efficiency of the proposed safety control scheme.

中文翻译：

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基于能力分析的四旋翼无人机安全飞控设计

本文基于系统能力和安全裕度的量化，考虑四旋翼无人机在执行器故障和外部干扰下的安全控制问题。首先，利用系统动力学的反向传播在线构建轨迹函数。因此，通过剩余系统能力和轨迹的预期导数（速度、加加速度和捕捉）之间的权衡，优雅地重新生成退化的轨迹。其次，将面向控制的模型建立为一种严格反馈的形式，集成了执行器故障和干扰。因此，开发了一种基于面向控制模型的改进动态表面控制（DSC）方案，以提高跟踪性能。与现有的控制方法相比，分析补偿能力以确定是否可以处理故障和干扰。最后，进行了仿真和实验研究，以突出所提出的安全控制方案的效率。